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 6 years ago

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

6601 times

More from Dynamic Walking 2010

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

Dynamic Walking 2010. Manoj Sriniva...

Added 6 years ago | 00:29:36 | 4970 views

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

Dynamic Walking 2010. Waleed Faraha...

Added 6 years ago | 00:41:49 | 4244 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 6 years ago | 00:48:59 | 5878 views

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

Dynamic Walking 2010. Sangbae Kim. ...

Added 6 years ago | 00:31:35 | 9798 views

Dynamic Walking 2010. Jessy Grizzle. Feedback Control of the Bipedal Robot MABEL

Dynamic Walking 2010. Jessy Grizzle...

Added 6 years ago | 00:56:13 | 8127 views

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

Dynamic Walking 2010. Ian Mancheste...

Added 6 years ago | 00:25:08 | 8885 views