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 proceedingConference 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 languageEnglish (US)
Title of host publication2010 49th IEEE Conference on Decision and Control, CDC 2010
Pages280-287
Number of pages8
DOIs
StatePublished - Dec 1 2010
Event2010 49th IEEE Conference on Decision and Control, CDC 2010 - Atlanta, GA, United States
Duration: Dec 15 2010Dec 17 2010

Publication series

NameProceedings of the IEEE Conference on Decision and Control
ISSN (Print)0191-2216

Other

Other2010 49th IEEE Conference on Decision and Control, CDC 2010
CountryUnited States
CityAtlanta, GA
Period12/15/1012/17/10

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization

Fingerprint Dive into the research topics of 'Design and experimental implementation of a compliant hybrid zero dynamics controller for walking on MABEL'. Together they form a unique fingerprint.

  • 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). [5718060] (Proceedings of the IEEE Conference on Decision and Control). https://doi.org/10.1109/CDC.2010.5718060