Massachusetts Institute of Technology
Sign in | Create Account

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


Viewed
5199 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 4 years ago | 00:31:35 | 5793 views

Dynamic Walking 2010. Anton Shiriaev. VHC Tools for Gait Analysis and Control.

Dynamic Walking 2010. Anton Shiriae...

Added 4 years ago | 00:34:00 | 3736 views

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

Dynamic Walking 2010. Jerry Pratt. ...

Added 4 years ago | 00:33:23 | 3453 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 4 years ago | 00:39:45 | 3906 views

Dynamic Walking 2010. Shuuji Kajita. Development of Cybernetic Human HRP-4C - struggle to realize human walking

Dynamic Walking 2010. Shuuji Kajita...

Added 4 years ago | 00:47:15 | 4100 views

Dynamic Walking 2010. Shai Revzen. Data Driven Floquet Analysis for Biomechanics and Robotics

Dynamic Walking 2010. Shai Revzen. ...

Added 4 years ago | 00:29:45 | 3285 views