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• W4281971250 abstract "Abstract A safety-critical measure of legged locomotion performance is a robot's ability to track its desired time-varying position trajectory in an environment, which is herein termed as “global-position tracking.” This paper introduces a nonlinear control approach that achieves asymptotic global-position tracking for three-dimensional (3D) bipedal robots. Designing a global-position tracking controller presents a challenging problem due to the complex hybrid robot model and the time-varying desired global-position trajectory. Toward tackling this problem, the first main contribution is the construction of impact invariance to ensure all desired trajectories respect the foot-landing impact dynamics, which is a necessary condition for realizing asymptotic tracking of hybrid walking systems. Thanks to their independence of the desired global position, these conditions can be exploited to decouple the higher-level planning of the global position and the lower-level planning of the remaining trajectories, thereby greatly alleviating the computational burden of motion planning. The second main contribution is the Lyapunov-based stability analysis of the hybrid closed-loop system, which produces sufficient conditions to guide the controller design for achieving asymptotic global-position tracking during fully actuated walking. Simulations and experiments on a 3D bipedal robot with twenty revolute joints confirm the validity of the proposed control approach in guaranteeing accurate tracking." @default.
• W4281971250 created "2022-06-13" @default.
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• W4281971250 date "2022-08-18" @default.
• W4281971250 modified "2023-10-17" @default.
• W4281971250 title "Global-Position Tracking Control for Three-Dimensional Bipedal Robots Via Virtual Constraint Design and Multiple Lyapunov Analysis" @default.
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• W4281971250 doi "https://doi.org/10.1115/1.4054732" @default.
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