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
5315 times

More from Dynamic Walking 2010

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

Dynamic Walking 2010. Waleed Faraha...

Added 4 years ago | 00:41:49 | 2962 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 | 2701 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 | 5079 views

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

Dynamic Walking 2010. Jessy Grizzle...

Added 4 years ago | 00:56:13 | 5681 views

Dynamic Walking 2010. Emanuel Todorov. Linearly-solvable optimal control: Theory and applications

Dynamic Walking 2010. Emanuel Todor...

Added 4 years ago | 00:33:38 | 2709 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 | 3513 views