Switching control design for accommodating large step-down disturbances in bipedal robot walking

Hae Won Park, Koushil Sreenath, Alireza Ramezani, J. W. Grizzle

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper presents a feedback controller that allows MABEL, a kneed, planar bipedal robot, with 1 m-long legs, to accommodate an abrupt 20 cm decrease in ground height. The robot is provided information on neither where the step down occurs, nor by how much. After the robot has stepped off a raised platform, however, the height of the platform can be estimated from the lengths of the legs and the angles of the robot's joints. A real-time control strategy is implemented that uses this on-line estimate of step-down height to switch from a baseline controller, that is designed for flat-ground walking, to a second controller, that is designed to attenuate torso oscillation resulting from the step-down disturbance. After one step, the baseline controller is re-applied. The control strategy is developed on a simplified-design model of the robot and then verified on a more realistic model before being evaluated experimentally. The paper concludes with experimental results showing MABEL (blindly) stepping off a 20 cm high platform.

Original languageEnglish (US)
Title of host publication2012 IEEE International Conference on Robotics and Automation, ICRA 2012
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages45-50
Number of pages6
ISBN (Print)9781467314039
DOIs
StatePublished - Jan 1 2012
Event 2012 IEEE International Conference on Robotics and Automation, ICRA 2012 - Saint Paul, MN, United States
Duration: May 14 2012May 18 2012

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Other

Other 2012 IEEE International Conference on Robotics and Automation, ICRA 2012
CountryUnited States
CitySaint Paul, MN
Period5/14/125/18/12

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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    Park, H. W., Sreenath, K., Ramezani, A., & Grizzle, J. W. (2012). Switching control design for accommodating large step-down disturbances in bipedal robot walking. In 2012 IEEE International Conference on Robotics and Automation, ICRA 2012 (pp. 45-50). [6225056] (Proceedings - IEEE International Conference on Robotics and Automation). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2012.6225056