Massachusetts Institute of Technology
Sign in | Create Account

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. If you don’t have an account yet, sign up now!

Dynamic Walking 2010

Dynamic Walking 2010

Category: Education | Updated 4 years ago

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


Viewed
4624 times

More from Dynamic Walking 2010

Dynamic Walking 2010. Jerry Pratt. Humanoid Disturbance Recovery with Limited Available Footholds

Dynamic Walking 2010. Jerry Pratt. ...

Added 4 years ago | 00:33:23 | 3507 views

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

Dynamic Walking 2010. Ian Mancheste...

Added 4 years ago | 00:25:08 | 5049 views

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

Dynamic Walking 2010. Russ Tedrake....

Added 4 years ago | 00:46:46 | 5296 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 4 years ago | 00:44:10 | 2692 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 4 years ago | 00:48:59 | 4404 views

Dynamic Walking 2010. Fumihiko Asano. Energy-based Control Approaches to Efficient Dynamic Bipedal Walking.

Dynamic Walking 2010. Fumihiko Asan...

Added 4 years ago | 00:34:20 | 4556 views