TY - GEN
T1 - Switching control design for accommodating large step-down disturbances in bipedal robot walking
AU - Park, Hae Won
AU - Sreenath, Koushil
AU - Ramezani, Alireza
AU - Grizzle, J. W.
PY - 2012
Y1 - 2012
N2 - 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.
AB - 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.
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U2 - 10.1109/ICRA.2012.6225056
DO - 10.1109/ICRA.2012.6225056
M3 - Conference contribution
AN - SCOPUS:84864466799
SN - 9781467314039
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 45
EP - 50
BT - 2012 IEEE International Conference on Robotics and Automation, ICRA 2012
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2012 IEEE International Conference on Robotics and Automation, ICRA 2012
Y2 - 14 May 2012 through 18 May 2012
ER -