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Robust bipedal locomotion on unknown terrain (2012).
| Content Provider | CiteSeerX |
|---|---|
| Author | Dai, Hongkai Tedrake, Russ |
| Abstract | A wide variety of bipedal robots have been constructed with the goal of achieving natural and efficient walking in outdoor environments. Unfortunately, there is still a lack of general schemes enabling the robots to reject terrain disturbances. In this thesis, two approaches are presented to enhance the performance of bipedal robots walking on modest terrain. The first approach searches for a walking gait that is intrinsically easily stabilized. The second approach constructs a robust controller to steer the robot towards the designated walking gait. Mathematically, the problem is modeled as rejecting the uncertainty in the guard function of a hybrid nonlinear system. Two metrics are proposed to quantify the robustness of such systems. The first metric concerns the ‘average performance ’ of a robot walking over a stochastic terrain. The expected LQR costto-go for the post-impact states is chosen to measure the difficulty of steering those perturbed states back to the desired trajectory. A nonlinear programming problem is formulated to search for a trajectory which |
| File Format | |
| Publisher Date | 2012-01-01 |
| Access Restriction | Open |
| Subject Keyword | Unknown Terrain Robust Bipedal Locomotion Bipedal Robot Post-impact State Average Performance General Scheme Hybrid Nonlinear System Stochastic Terrain Expected Lqr Costto-go Robust Controller Modest Terrain Terrain Disturbance Outdoor Environment Walking Gait First Metric Concern Nonlinear Programming Problem Wide Variety Guard Function Efficient Walking Robot Walking Second Approach First Approach Search Desired Trajectory Designated Walking Gait |
| Content Type | Text |
