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 7 years ago

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

7134 times

More from Dynamic Walking 2010

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

Dynamic Walking 2010. Russ Tedrake....

Added over 7 years ago | 00:46:46 | 7676 views

Dynamic Walking 2010. Richard Marsh. Coordinated action of muscle-tendon systems in the avian hindlimb during walking, running, and jumping

Dynamic Walking 2010. Richard Marsh...

Added over 7 years ago | 00:39:45 | 6575 views

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

Dynamic Walking 2010. Roland Siegwa...

Added over 7 years ago | 00:28:59 | 5000 views

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

Dynamic Walking 2010. Waleed Faraha...

Added over 7 years ago | 00:41:49 | 4700 views

Dynamic Walking 2010. Aaron Ames. First steps toward closing the loop on walking: from human walking to hybrid systems to robotic walking and back

Dynamic Walking 2010. Aaron Ames. F...

Added over 7 years ago | 00:48:59 | 6269 views

Dynamic Walking 2010. Dan Ferris. Developing a Brain-Controlled Robotic Lower-Limb Exoskeleton.

Dynamic Walking 2010. Dan Ferris. D...

Added over 7 years ago | 00:50:43 | 6937 views