Massachusetts Institute of Technology
Sign in

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

Designing controllers for legged locomotion requires dealing with complex nonlinear dynamics and non-trivial notions of stability including limit cycles and dynamically stable maneuvers. In this talk I will describe the LQR-Trees algorithm for designing feedback controllers for legged robots navigating on flat and rough terrain. The algorithm combines randomized motion planning and trajectory optimization algorithms, popular in robotics, with rigorous tools from control theory for verifying regional stability of nonlinear systems. The algorithm can efficiently handle limit cycles, impacts, trigonometric nonlinearities, and saturations. Under mild assumptions, it probabilistically converges to a feedback which stabilizes the entire controllable state space; guaranteeing that every initial condition which can be stabilized to the nominal limit cycle or goal will be stabilized to that goal.

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 5 years ago

Created
August 03, 2010 18:49
Category
License
All Rights Reserved (What is this?)
Additional Files


Viewed
6279 times

More from Dynamic Walking 2010

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

Dynamic Walking 2010. Sangbae Kim. ...

Added over 5 years ago | 00:31:35 | 8055 views

Dynamic Walking 2010. Madhusudhan Venkadesan. Role of endurance running in human evolution, and how we ran without cushioned shoes

Dynamic Walking 2010. Madhusudhan V...

Added over 5 years ago | 00:35:29 | 4941 views

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

Dynamic Walking 2010. Tomomichi Sug...

Added over 5 years ago | 00:27:34 | 4690 views

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 5 years ago | 00:28:57 | 4663 views

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

Dynamic Walking 2010. Ian Mancheste...

Added over 5 years ago | 00:25:08 | 7249 views

Dynamic Walking 2010. Stefano Stramigioli. Port-Based Robotics and Variable Impedance Actuators

Dynamic Walking 2010. Stefano Stram...

Added over 5 years ago | 00:28:58 | 3931 views