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 over 6 years ago

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


Viewed
6710 times

More from Dynamic Walking 2010

Dynamic Walking 2010. Andre Seyfarth. Stable walking and running: how leg geometry and compliance shapes the way we move

Dynamic Walking 2010. Andre Seyfart...

Added over 6 years ago | 00:28:57 | 5236 views

Dynamic Walking 2010. Tom Roberts. Fast, cheap and out of control: dynamic interactions of elastic structures and muscle motors

Dynamic Walking 2010. Tom Roberts. ...

Added over 6 years ago | 00:44:10 | 3535 views

Dynamic Walking 2010. Waleed Farahat. Optimal Workloop Energetics of Muscle-Actuated Systems: An Impedance Matching View

Dynamic Walking 2010. Waleed Faraha...

Added over 6 years ago | 00:41:49 | 4340 views

Dynamic Walking 2010. Rodger Kram. Passive Elastic Running Prostheses; Very Good, But Not Yet Better.

Dynamic Walking 2010. Rodger Kram. ...

Added over 6 years ago | 00:37:55 | 3720 views

Dynamic Walking 2010. Tomomichi Sugihara. Dynamics Morphing Toward Globally Stable Bipedalism

Dynamic Walking 2010. Tomomichi Sug...

Added over 6 years ago | 00:27:34 | 5152 views

Dynamic Walking 2010. Manoj Srinivasan. Observations on the Structure of Optimal Gaits on Various Simple Bipedal Models

Dynamic Walking 2010. Manoj Sriniva...

Added over 6 years ago | 00:29:36 | 5050 views