Towards thruster-assisted bipedal locomotion for enhanced efficiency and robustness

04/29/2020
by   Pravin Dangol, et al.
0

In this paper, we will report our efforts in designing closed-loop feedback for the thruster-assisted walking of bipedal robots. We will assume for well-tuned supervisory controllers and will focus on fine-tuning the joints desired trajectories to satisfy the performance being sought. In doing this, we will devise an intermediary filter based on reference governors that guarantees the satisfaction of performance-related constraints. Since these modifications and impact events lead to deviations from the desired periodic orbits, we will guarantee hybrid invariance in a robust way by applying predictive schemes withing a very short time envelope during the gait cycle. To achieve the hybrid invariance, we will leverage the unique features in our model, that is, the thrusters. The merit of our approach is that unlike existing optimization-based nonlinear control methods, satisfying performance-related constraints during the single support phase does not rely on expensive numeric approaches. In addition, the overall structure of the proposed thruster-assisted gait control allows for exploiting performance and robustness enhancing capabilities during specific parts of the gait cycle, which is unusual and not reported before.

READ FULL TEXT
POST COMMENT

Comments

There are no comments yet.

Authors

page 1

page 2

page 3

page 4

04/29/2020

Performance satisfaction in Harpy, a thruster-assisted bipedal robot

We will report our efforts in designing feedback for the thruster-assist...
06/06/2020

A Topological Approach to Gait Generation for Biped Robots

This paper describes a topological approach to generating families of op...
05/21/2021

Reduced-Order-Model-Based Feedback Design for Thruster-Assisted Legged Locomotion

Real-time constraint satisfaction for robots can be quite challenging du...
09/02/2020

Models of benthic bipedalism

Walking is a common bipedal and quadrupedal gait and is often associated...
09/10/2021

Natural Multicontact Walking for Robotic Assistive Devices via Musculoskeletal Models and Hybrid Zero Dynamics

Generating provably stable walking gaits that yield natural locomotion w...
This week in AI

Get the week's most popular data science and artificial intelligence research sent straight to your inbox every Saturday.