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We present a framework to generate periodic trajectory references for a 3D under-actuated bipedal robot, using a linear inverted pendulum (LIP) based controller with adaptive neural regulation.
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S. Kajita, F. Kanehiro, K. Kaneko, K. Yokoi, and H. Hirukawa, “The 3D linear inverted pendulum model: a simple modeling for a biped walking pattern generation,” in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems , 2001, pp. 239–246
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O. Kanoun, “Real-time prioritized kinematic control under inequality constraints for redundant manipulators,” in Robotics: Science and Systems , vol. 7, 2012, p. 145
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J. Englsberger, C. Ott, and A. Albu-Schäffer, “Three-dimensional bipedal walking control based on divergent component of motion,” Ieee transactions on robotics , vol. 31, no. 2, pp. 355–368, 2015
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Q. Nguyen and K. Sreenath, “L 1 adaptive control for bipedal robots with control lyapunov function based quadratic programs,” in 2015 American Control Conference (ACC) . IEEE, 2015, pp. 862–867
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W. Suleiman, F. Kanehiro, and E. Yoshida, “Infeasibility-free inverse kinematics method,” in 2015 IEEE/SICE International Symposium on System Integration (SII) , IEEE. IEEE, dec 2015, pp. 307–312
2015
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R. J. Griffin and A. Leonessa, “Model predictive control for dynamic footstep adjustment using the divergent component of motion,” in 2016 IEEE International Conference on Robotics and Automation (ICRA) , May 2016, pp. 1763–1768
2016
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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 Proc. IEEE Int. Conf. Robotics and Automation (ICRA) . Stockholm, Sweden: IEEE, May 2016, pp. 1447–1454
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, jul 2019
Y. Gong and J. Grizzle, “One-step ahead prediction of angular momentum about the contact point for control of bipedal locomotion: Validation in a lip-inspired controller,” in 2021 IEEE International Conference on Robotics and Automation (ICRA) , 2021, pp. 2832–2838
2021
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2021
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2019
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X. Xiong and A. D. Ames, “Dynamic and versatile humanoid walking via embedding 3d actuated slip model with hybrid lip based stepping,” IEEE Robotics and Automation Letters , vol. 5, no. 4, pp. 6286–6293, 2020
2020
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G. Castillo, B. Weng, W. Zhang, and A. Hereid, “Hybrid zero dynamics inspired feedback control policy design for 3d bipedal locomotion using reinforcement learning,” in IEEE International Conference on Robotics and Automation (ICRA) . Paris, France: IEEE, May 2020
2020
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V. Paredes and A. Hereid, “Dynamic locomotion of a lower-limb exoskeleton through virtual constraints based zmp regulation,” in Dynamic Systems and Control Conference , vol. 84270. American Society of Mechanical Engineers, 2020, p. V001T14A001
2020
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Y. Sun, W. L. Ubellacker, W.-L. Ma, X. Zhang, C. Wang, N. V. Csomay-Shanklin, M. Tomizuka, K. Sreenath, and A. D. Ames, “Online learning of unknown dynamics for model-based controllers in legged locomotion,” IEEE Robotics and Automation Letters , vol. 6, no. 4, pp. 8442–8449, 2021
2021
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2021
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