ICRA 2012 Paper Abstract

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Paper TuA02.1

Park, Hae Won (University of Michigan), Sreenath, Koushil (University of Michigan), Ramezani, Alireza (University of Michigan), Grizzle, J.W (University of Michigan)

Switching Control Design for Accommodating Large Step-Down Disturbances in Bipedal Robot Walking

Scheduled for presentation during the Regular Session "Bipedal Robot Control" (TuA02), Tuesday, May 15, 2012, 08:30−08:45, Meeting Room 2 (Chief Red Wing)

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on December 13, 2017

Keywords Humanoid and Bipedal Locomotion, Underactuated Robots, Compliance and Impedance Control

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 robotís 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 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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