Design and experimental implementation of a compliant hybrid zero dynamics controller for walking on MABEL

Koushil Sreenath; Hae Won Park; Ioannis Poulakakis; J. W. Grizzle

doi:10.1109/CDC.2010.5718060

Design and experimental implementation of a compliant hybrid zero dynamics controller for walking on MABEL

Koushil Sreenath, Hae Won Park, Ioannis Poulakakis, J. W. Grizzle

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

This paper extends the method of virtual constraints and hybrid zero dynamics, developed for rigid robots with a single degree of underactuation, to MABEL, a planar biped with a novel compliant transmission. A time-invariant feedback controller is designed for realizing exponentially stable waking gaits in such a way that the closed-loop system preserves the natural compliance of the system, and therefore the energetic benefits of springs. This is accomplished by incorporating the compliance into the hybrid zero dynamics. The compliant-hybrid-zero-dynamics-based controller is implemented experimentally and shown to realize stable walking gaits which make use of the compliance to store and return energy to the gait.

Original language	English (US)
Title of host publication	2010 49th IEEE Conference on Decision and Control, CDC 2010
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	280-287
Number of pages	8
ISBN (Print)	9781424477456
DOIs	https://doi.org/10.1109/CDC.2010.5718060
State	Published - 2010
Externally published	Yes
Event	49th IEEE Conference on Decision and Control, CDC 2010 - Atlanta, United States Duration: Dec 15 2010 → Dec 17 2010

Publication series

Name	Proceedings of the IEEE Conference on Decision and Control
ISSN (Print)	0743-1546
ISSN (Electronic)	2576-2370

Conference

Conference	49th IEEE Conference on Decision and Control, CDC 2010
Country/Territory	United States
City	Atlanta
Period	12/15/10 → 12/17/10

ASJC Scopus subject areas

Control and Systems Engineering
Modeling and Simulation
Control and Optimization

Online availability

10.1109/CDC.2010.5718060

Library availability

Discover UIUC Full Text

Cite this

Sreenath, K., Park, H. W., Poulakakis, I., & Grizzle, J. W. (2010). Design and experimental implementation of a compliant hybrid zero dynamics controller for walking on MABEL. In 2010 49th IEEE Conference on Decision and Control, CDC 2010 (pp. 280-287). Article 5718060 (Proceedings of the IEEE Conference on Decision and Control). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CDC.2010.5718060

Design and experimental implementation of a compliant hybrid zero dynamics controller for walking on MABEL. / Sreenath, Koushil; Park, Hae Won; Poulakakis, Ioannis et al.
2010 49th IEEE Conference on Decision and Control, CDC 2010. Institute of Electrical and Electronics Engineers Inc., 2010. p. 280-287 5718060 (Proceedings of the IEEE Conference on Decision and Control).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Sreenath, K, Park, HW, Poulakakis, I & Grizzle, JW 2010, Design and experimental implementation of a compliant hybrid zero dynamics controller for walking on MABEL. in 2010 49th IEEE Conference on Decision and Control, CDC 2010., 5718060, Proceedings of the IEEE Conference on Decision and Control, Institute of Electrical and Electronics Engineers Inc., pp. 280-287, 49th IEEE Conference on Decision and Control, CDC 2010, Atlanta, United States, 12/15/10. https://doi.org/10.1109/CDC.2010.5718060

Sreenath K, Park HW, Poulakakis I, Grizzle JW. Design and experimental implementation of a compliant hybrid zero dynamics controller for walking on MABEL. In 2010 49th IEEE Conference on Decision and Control, CDC 2010. Institute of Electrical and Electronics Engineers Inc. 2010. p. 280-287. 5718060. (Proceedings of the IEEE Conference on Decision and Control). doi: 10.1109/CDC.2010.5718060

@inproceedings{9b43386a338d435cad1f6fdcef018f37,

title = "Design and experimental implementation of a compliant hybrid zero dynamics controller for walking on MABEL",

abstract = "This paper extends the method of virtual constraints and hybrid zero dynamics, developed for rigid robots with a single degree of underactuation, to MABEL, a planar biped with a novel compliant transmission. A time-invariant feedback controller is designed for realizing exponentially stable waking gaits in such a way that the closed-loop system preserves the natural compliance of the system, and therefore the energetic benefits of springs. This is accomplished by incorporating the compliance into the hybrid zero dynamics. The compliant-hybrid-zero-dynamics-based controller is implemented experimentally and shown to realize stable walking gaits which make use of the compliance to store and return energy to the gait.",

author = "Koushil Sreenath and Park, {Hae Won} and Ioannis Poulakakis and Grizzle, {J. W.}",

year = "2010",

doi = "10.1109/CDC.2010.5718060",

language = "English (US)",

isbn = "9781424477456",

series = "Proceedings of the IEEE Conference on Decision and Control",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "280--287",

booktitle = "2010 49th IEEE Conference on Decision and Control, CDC 2010",

address = "United States",

note = "49th IEEE Conference on Decision and Control, CDC 2010 ; Conference date: 15-12-2010 Through 17-12-2010",

}

TY - GEN

T1 - Design and experimental implementation of a compliant hybrid zero dynamics controller for walking on MABEL

AU - Sreenath, Koushil

AU - Park, Hae Won

AU - Poulakakis, Ioannis

AU - Grizzle, J. W.

PY - 2010

Y1 - 2010

N2 - This paper extends the method of virtual constraints and hybrid zero dynamics, developed for rigid robots with a single degree of underactuation, to MABEL, a planar biped with a novel compliant transmission. A time-invariant feedback controller is designed for realizing exponentially stable waking gaits in such a way that the closed-loop system preserves the natural compliance of the system, and therefore the energetic benefits of springs. This is accomplished by incorporating the compliance into the hybrid zero dynamics. The compliant-hybrid-zero-dynamics-based controller is implemented experimentally and shown to realize stable walking gaits which make use of the compliance to store and return energy to the gait.

AB - This paper extends the method of virtual constraints and hybrid zero dynamics, developed for rigid robots with a single degree of underactuation, to MABEL, a planar biped with a novel compliant transmission. A time-invariant feedback controller is designed for realizing exponentially stable waking gaits in such a way that the closed-loop system preserves the natural compliance of the system, and therefore the energetic benefits of springs. This is accomplished by incorporating the compliance into the hybrid zero dynamics. The compliant-hybrid-zero-dynamics-based controller is implemented experimentally and shown to realize stable walking gaits which make use of the compliance to store and return energy to the gait.

UR - http://www.scopus.com/inward/record.url?scp=79953157492&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=79953157492&partnerID=8YFLogxK

U2 - 10.1109/CDC.2010.5718060

DO - 10.1109/CDC.2010.5718060

M3 - Conference contribution

AN - SCOPUS:79953157492

SN - 9781424477456

T3 - Proceedings of the IEEE Conference on Decision and Control

SP - 280

EP - 287

BT - 2010 49th IEEE Conference on Decision and Control, CDC 2010

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 49th IEEE Conference on Decision and Control, CDC 2010

Y2 - 15 December 2010 through 17 December 2010

ER -

Design and experimental implementation of a compliant hybrid zero dynamics controller for walking on MABEL

Abstract

Publication series

Conference

ASJC Scopus subject areas

Online availability

Library availability

Related links

Fingerprint

Cite this