NDLI: Bipedal Robotic Running with DURUS-2D: Bridging the Gap between Theory and Experiment

Please wait, while we are loading the content...

Forward Inner-Approximated Reachability of Non-Linear Continuous Systems

Forward Stochastic Reachability Analysis for Uncontrolled Linear Systems using Fourier Transforms

Optimal Data Rate for State Estimation of Switched Nonlinear Systems

Robust Abstractions for Control Synthesis: Completeness via Robustness for Linear-Time Properties

Convex and Combinatorial Optimization for Dynamic Robots in the Real World

Coupling Policy Iterations with Piecewise Quadratic Lyapunov Functions

Dynamic Periodic Event-Triggered Control for Linear Systems

A Small Gain Theorem for Parametric Assume-Guarantee Contracts

Piecewise - Differentiable Trajectory Outcomes in Mechanical Systems Subject to Unilateral Constraints

On the Polytope Escape Problem for Continuous Linear Dynamical Systems

Controller Synthesis for Reward Collecting Markov Processes in Continuous Space

Path-Complete Graphs and Common Lyapunov Functions

Formal Synthesis of Stabilizing Controllers for Switched Systems

Robust Model Checking of Timed Automata under Clock Drifts

On a Class of Maximal Invariance Inducing Control Strategies for Large Collections of Switched Systems

Relaxed Decidability and the Robust Semantics of Metric Temporal Logic

Structural Analysis of Multi-Mode DAE Systems

SMC: Satisfiability Modulo Convex Optimization

Reachability Computation for Switching Diffusions: Finite Abstractions with Certifiable and Tuneable Precision

Invariance Feedback Entropy of Nondeterministic Control Systems

Convex Interpolation Control with Formal Guarantees for Disturbed and Constrained Nonlinear Systems

Safety Verification of Nonlinear Hybrid Systems Based on Invariant Clusters

Sound and Automated Synthesis of Digital Stabilizing Controllers for Continuous Plants

Sampling-based Approximate Optimal Control Under Temporal Logic Constraints

Bipedal Robotic Running with DURUS-2D: Bridging the Gap between Theory and Experiment

Sapo: Reachability Computation and Parameter Synthesis of Polynomial Dynamical Systems

Statistical Verification of the Toyota Powertrain Control Verification Benchmark

Scheduling of Embedded Controllers Under Timing Contracts

HyLAA: A Tool for Computing Simulation-Equivalent Reachability for Linear Systems

Abnormal Data Classification Using Time-Frequency Temporal Logic

Bipedal Robotic Running with DURUS-2D: Bridging the Gap between Theory and Experiment

Content Provider	ACM Digital Library
Author	Ambrose, Eric R. Ames, Aaron D. Hubicki, Christian M. Ma, Wen-Loong Kolathaya, Shishir
Abstract	Bipedal robotic running remains a challenging benchmark in the field of control and robotics because of its highly dynamic nature and necessarily underactuated hybrid dynamics. Previous results have achieved bipedal running experimentally with a combination of theoretical results and heuristic application thereof. In particular, formal analysis of the hybrid system stability is given based on a theoretical model, but due to the gap between theoretical concepts and experimental reality, extensive tuning is necessary to achieve experimental success. In this paper, we present a formal approach to bridge this gap, starting from theoretical gait generation to a provably stable control implementation, resulting in bipedal robotic running. We first use a large-scale optimization to generate an energy-efficient running gait, subject to hybrid zero dynamics conditions and feasibility constraints which incorporate practical limitations of the robot model based on physical conditions. The stability of the gait is formally guaranteed in the hybrid system model with an input to state stability (ISS) based control law. This implementation improves the stability under practical control limitations of the system. Finally, the methodology is experimentally realized on the planar spring-legged bipedal robot, DURUS-2D, resulting in sustainable running at 1.75m/s. The paper, therefore, presents a formal method that takes the first step toward bridging the gap between theory and experiment.
Starting Page	265
Ending Page	274
Page Count	10
File Format	PDF
ISBN	9781450345903
DOI	10.1145/3049797.3049823
Language	English
Publisher	Association for Computing Machinery (ACM)
Publisher Date	2017-04-13
Publisher Place	New York
Access Restriction	Subscribed
Subject Keyword	Hybrid zero dynamics Multi-domain hybrid systems Input to state stability Nonlinear programming Bipedal running
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

Dynamically stable bipedal robotic walking with NAO via human-inspired hybrid zero dynamics

Dynamic multi-domain bipedal walking with atrias through SLIP based human-inspired control

Bipedal Robotic Running with Partial Hybrid Zero Dynamics and Human-Inspired Optimization

Input-to-state stability via hybrid time approach applied in Hybrid dynamical systems with time-delay

Input to State Stability of Bipedal Walking Robots: Application to DURUS

Bipedal robotic running with partial hybrid zero dynamics and human-inspired optimization

The zero dynamics of a nonlinear system: FrOm The Origin To the latest progresses of a long successful story

Input-to-state stability of hybrid switched systems with impulsive effects

Hybrid quantised observer for multi-input-multi-output nonlinear systems

Bipedal Robotic Running with DURUS-2D: Bridging the Gap between Theory and Experiment

Similar Documents

Dynamically stable bipedal robotic walking with NAO via human-inspired hybrid zero dynamics

Dynamic multi-domain bipedal walking with atrias through SLIP based human-inspired control

Bipedal Robotic Running with Partial Hybrid Zero Dynamics and Human-Inspired Optimization

Input-to-state stability via hybrid time approach applied in Hybrid dynamical systems with time-delay

Input to State Stability of Bipedal Walking Robots: Application to DURUS

Bipedal robotic running with partial hybrid zero dynamics and human-inspired optimization

The zero dynamics of a nonlinear system: FrOm The Origin To the latest progresses of a long successful story

Input-to-state stability of hybrid switched systems with impulsive effects

Hybrid quantised observer for multi-input-multi-output nonlinear systems

Bipedal Robotic Running with DURUS-2D: Bridging the Gap between Theory and Experiment