NDLI: A partially observable hybrid system model for bipedal locomotion for adapting to terrain variations

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A partially observable hybrid system model for bipedal locomotion for adapting to terrain variations

Content Provider	ACM Digital Library
Author	Sreenath, Koushil Kumar, Vijay Hill, Connie R.
Abstract	We propose a methodology of applying PoMDPs at a sufficiently high abstraction of a high-dimensional continuous-time partially observable hybrid system. In particular, we develop a two-layer hybrid controller, where the higher-level PoMDP-based hybrid controller learns the boundaries between various modes and appropriately switches between them. The modes partition the state-space and represent a closed-loop hybrid system with a lower-level hybrid controller. We apply this methodology onto the problem of bipedal walking on varying terrain, where the gradient change in the terrain is only partially observable (due to poor and noisy sensors.) We develop three lower-level hybrid controllers that result in robust walking on level ground, up and down ramps. The higher-level PoMDP-based hybrid controller then learns the boundary between these controllers and is used to perform appropriate controller switching. With only a coarse, discrete estimate of walking speed, the controller enables traversing terrain both with long sustained constant slopes, and with rapid changes in slope. Simulation results are presented on a 26-dimensional planar bipedal robot model that incorporates contact forces and friction.
Starting Page	137
Ending Page	142
Page Count	6
File Format	PDF
ISBN	9781450315678
DOI	10.1145/2461328.2461352
Language	English
Publisher	Association for Computing Machinery (ACM)
Publisher Date	2013-04-08
Publisher Place	New York
Access Restriction	Subscribed
Subject Keyword	Pomdp Rough terrain Bipedal walking
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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