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This paper presents a neural-network based adaptive feedback control structure to regulate the velocity of 3D bipedal robots under dynamics uncertainties.
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S. Rezazadeh, C. Hubicki, M. Jones, A. Peekema, J. Van Why, A. Abate, and J. Hurst, “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
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X. Da, O. Harib, R. Hartley, B. Griffin, and J. W. 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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J. P. Reher, A. Hereid, S. Kolathaya, C. M. Hubicki, and A. D. Ames, “Algorithmic foundations of realizing multi-contact locomotion on the humanoid robot DURUS,” in the 12 th International Workshop on the Algorithmic Foundations of Robotics (WAFR) . San Francisco: Springer, Dec. 2016
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T. DeWolf, T. C. Stewart, J.-J. Slotine, and C. Eliasmith, “A spiking neural model of adaptive arm control,” Proceedings of the Royal Society B , vol. 283, no. 48, 2016
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X. Da and J. Grizzle, “Combining trajectory optimization, supervised machine learning, and model structure for mitigating the curse of dimensionality in the control of bipedal robots,” The International Journal of Robotics Research , vol. 38, no. 9, pp. 1063–1097, 2019
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G. A. Castillo, B. Weng, W. Zhang, and A. Hereid, “Hybrid zero dynamics inspired feedback control policy design for 3d bipedal locomotion using reinforcement learning,” 2019
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M. Gnucci and R. Marino, “On the adaptive control of the acrobot,” in 2019 18th European Control Conference (ECC) , June 2019, pp. 3438–3443
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Y. Gong, R. Hartley, X. Da, A. Hereid, O. Harib, J.-K. Huang, and J. Grizzle, “Feedback control of a Cassie bipedal robot: walking, standing, and riding a segway,” American Control Conference (ACC) , 2019
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“Simulation results for Cassie in MuJoCo,” https://youtu.be/DAHk9-GFS0k, accessed: 2020-07-31
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