Massachusetts Institute of Technology
Sign in

Dynamic Walking 2010. Robert Gregg. Control and Planning with Asymptotically Stable Gait Primitives: 3D Dynamic Walking to Locomotor Rehabilitation.

This talk presents a hierarchical control framework that enables motion planning for fast and efficient 3D dynamic walkers in a similar manner to what is possible for bipeds using Center of Pressure (CoP) equilibrium constraints. Given any low-level controller that produces a set of “asymptotically stable gait primitives,” a dynamic walker can be controlled as a discrete-time switched system that sequentially composes gait primitives from step to step. We derive switching rules by which the robot can follow a walking path that is a sequence of these gaits, so dynamically stable planning reduces to a simple tree search. Passivity-based controlled reduction is used to construct an example set of gait primitives for a 3D compass-gait biped, where each primitive corresponds to walking along a nominal arc of constant curvature for a fixed number of steps. We conclude with ongoing efforts at translating these ideas into systematic methods for designing and prescribing control strategies for personalized robot-assisted locomotor therapy.

Comments (0)

It looks like no one has posted a comment yet. You can be the first!

You need to log in, in order to post comments.

Dynamic Walking 2010

Dynamic Walking 2010

Category: Education | Updated almost 6 years ago

Created
August 02, 2010 22:37
Category
License
All Rights Reserved (What is this?)
Additional Files


Viewed
6431 times

More from Dynamic Walking 2010

Dynamic Walking 2010. Greg Sawicki. Mechanics and control of a compliant muscle-tendon during cyclic contractions

Dynamic Walking 2010. Greg Sawicki....

Added almost 6 years ago | 00:30:00 | 4014 views

Dynamic Walking 2010. Russ Tedrake. Feedback Motion Planning via Sums-of-Squares Verification

Dynamic Walking 2010. Russ Tedrake....

Added almost 6 years ago | 00:46:46 | 6799 views

Dynamic Walking 2010. Ian Manchester. Regions of Attraction to Limit Cycles of Nonlinear Hybrid Systems

Dynamic Walking 2010. Ian Mancheste...

Added almost 6 years ago | 00:25:08 | 8718 views

Dynamic Walking 2010. Roland Siegwart. Exploitation of Natural Dynamics in Quadrupedal Locomotion

Dynamic Walking 2010. Roland Siegwa...

Added almost 6 years ago | 00:28:59 | 4460 views

Dynamic Walking 2010. Shai Revzen. Data Driven Floquet Analysis for Biomechanics and Robotics

Dynamic Walking 2010. Shai Revzen. ...

Added almost 6 years ago | 00:29:45 | 4508 views

Dynamic Walking 2010. Sangbae Kim. Bio-inspired Robot Design for Hyper-Dynamic Locomotion

Dynamic Walking 2010. Sangbae Kim. ...

Added almost 6 years ago | 00:31:35 | 9431 views