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A Hybrid passive Linear Inverted Pendulum (HLIP) model is proposed for characterizing, stabilizing and composing periodic orbits for 3D underactuated bipedal walking.
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S. Kajita, F. Kanehiro, K. Kaneko, K. Fujiwara, K. Harada, K. Yokoi, and H. Hirukawa, “Biped walking pattern generation by using preview control of zero-moment point,” in Robotics and Automation, IEEE International Conference on , vol. 2, 2003, pp. 1620–1626
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H. Geyer, A. Seyfarth, and R. Blickhan, “Compliant leg behaviour explains basic dynamics of walking and running,” Proceedings of the Royal Society of London B: Biological Sciences , vol. 273, no. 1603, pp. 2861–2867, 2006
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I. Poulakakis and J. Grizzle, “The spring loaded inverted pendulum as the hybrid zero dynamics of an asymmetric hopper,” IEEE Transactions on Automatic Control , vol. 54, no. 8, pp. 1779–1793, 2009
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J. Rummel, Y. Blum, H. M. Maus, C. Rode, and A. Seyfarth, “Stable and robust walking with compliant legs,” in Robotics and automation (ICRA), 2010 IEEE international conference on , pp. 5250–5255
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K. Sreenath, H. Park, I. Poulakakis, and J. W. Grizzle, “A compliant hybrid zero dynamics controller for stable, efficient and fast bipedal walking on MABEL,” I. J. Robotics Res. , vol. 30, no. 9, pp. 1170–1193, 2011
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J. Pratt, T. Koolen, T. De Boer, J. Rebula, S. Cotton, J. Carff, M. Johnson, and P. Neuhaus, “Capturability-based analysis and control of legged locomotion, part 2: Application to m2v2, a lower-body humanoid,” The International Journal of Robotics Research , vol. 31, no. 10, pp. 1117–1133, 2012
2012
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G. Garofalo, C. Ott, and A. Albu-Schäffer, “Walking control of fully actuated robots based on the bipedal slip model,” 2012 IEEE International Conference on Robotics and Automation , pp. 1456–1463, 2012
2012
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P. M. Wensing and D. E. Orin, “High-speed humanoid running through control with a 3d-slip model,” in 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems , pp. 5134–5140
2013
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M. Posa, C. Cantu, and R. Tedrake, “A direct method for trajectory optimization of rigid bodies through contact,” The International Journal of Robotics Research , vol. 33, no. 1, pp. 69–81, 2014
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A. D. Ames, K. Galloway, K. Sreenath, and J. Grizzle, “Rapidly exponentially stabilizing control lyapunov functions and hybrid zero dynamics,” IEEE Transactions on Automatic Control , vol. 59, no. 4, pp. 876–891, 2014
2014
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J. Grizzle, C. Chevallereau, R. W. Sinnet, and A. D. Ames, “Models, feedback control, and open problems of 3d bipedal robotic walking,” Automatica , vol. 50, no. 8, pp. 1955–1988, 2014
2014
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X. Da, O. Harib, R. Hartley, B. Griffin, and J. Grizzle, “From 2d design of underactuated bipedal gaits to 3d implementation: Walking with speed tracking,” IEEE Access , vol. 4, pp. 3469–3478, 2016
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T. Apgar, P. Clary, K. Green, A. Fern, and J. Hurst, “Fast online trajectory optimization for the bipedal robot cassie,” no. CONF, 2018
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X. Xiong and A. D. Ames, “Coupling reduced order models via feedback control for 3d underactuated bipedal robotic walking,” in 2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids) , pp. 1–9
2018
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X. Xiong and A. D. Ames, “Bipedal hopping: Reduced-order model embedding via optimization-based control,” in 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , pp. 3821–3828
2018
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S. Faraji, S. Pouya, and A. Ijspeert, “Robust and agile 3d biped walking with steering capability using a footstep predictive approach,” in Robotics science and systems (RSS) , no. CONF, 2014
2014
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S. Rezazadeh and et al., “Spring-mass walking with atrias in 3d: Robust gait control spanning zero to 4.3 kph on a heavily underactuated bipedal robot,” in ASME 2015 dynamic systems and control conference . American Society of Mechanical Engineers, 2015
2015
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A. Hereid, E. A. Cousineau, C. M. Hubicki, and A. D. Ames, “3d dynamic walking with underactuated humanoid robots: A direct collocation framework for optimizing hybrid zero dynamics,” in Robotics and Automation (ICRA), 2016 IEEE International Conference on , pp. 1447–1454
2016
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M. A. Sharbafi and A. Seyfarth, “Vbla, a swing leg control approach for humans and robots,” in 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids) , pp. 952–957
2016
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S. Feng, X. Xinjilefu, C. G. Atkeson, and J. Kim, “Robust dynamic walking using online foot step optimization,” in 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , pp. 5373–5378
2016
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https://youtu.be/7Ix7yA5c19U
Cited in the paper.
Agility Robotics http://www.agilityrobotics.com
Cited in the paper.
C. Chevallereau, H. Razavi, D. Six, Y. Aoustin, and J. Grizzle, “Self-synchronization and self-stabilization of 3d bipedal walking gaits,” Robotics and Autonomous Systems , vol. 100, pp. 43–60, 2018
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2018
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Z. Gan, Z. Jiao, and C. D. Remy, “On the dynamic similarity between bipeds and quadrupeds: A case study on bounding,” IEEE Robotics and Automation Letters , vol. 3, no. 4, pp. 3614–3621, 2018
2018
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X. Xiong and A. D. Ames, “Motion decoupling and composition via reduced order model optimization for dynamic humanoid walking with clf-qp based active force control,” in In 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
2019
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