NDLI: Phase space planning and robust control for data-driven locomotion behaviors

Content Provider	IEEE Xplore Digital Library
Author	Zhao, Y. Kim, D.H. Fernandez, B. Sentis, L.
Copyright Year	2013
Abstract	We utilize here regression tools to plan dynamic locomotion in the Phase Space of the robot's center of mass behavior and state feedback controllers to accomplish the desired plans. In real robotic systems, simplified locomotion models and disturbances in the control processes result in deviations from the actual closed loop dynamics with respect to the desired locomotion trajectories. To tackle these challenges, we propose here the use of two control strategies: (1) support vector regression to approximate complex nonlinear center of mass dynamics and plan the feet contact transitions, and (2) sliding mode control to track feet trajectories given the contact timing and location plans. First, support vector regression is utilized to learn a data set obtained through numerical simulation, providing an analytical approximation of the center of mass behavior. To approximate Phase Plane curves, which are characterized by vertical tangents and loop or cyclic behaviors, we use implicit functions for regression as opposed to explicit methods. Based on the proposed regression approximations of the dynamics, we develop contact transition plans and apply robust controllers to converge to the desired feet trajectories. In particular, state feedback controllers might be more convenient than time based controllers in terms of robustness to disturbances. Overall, our methods are capable of learning complex center of mass trajectories and might benefit from the use of robust control techniques. Various case studies are analyzed to validate the effectiveness of the methods including single and multi step planning in a numerical simulation, and swing leg trajectory control on our Hume bipedal robot.
Starting Page	80
Ending Page	87
File Size	3848029
Page Count	8
File Format	PDF
ISBN	9781479926176
ISSN	21640572
e-ISBN	9781479926190
DOI	10.1109/HUMANOIDS.2013.7029959
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-10-15
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Support vector machines Dynamics Aerospace electronics Robustness Trajectory Robots Foot
Content Type	Text
Resource Type	Article

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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
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