Welcome to the new version of CaltechAUTHORS. Login is currently restricted to library staff. If you notice any issues, please email coda@library.caltech.edu
Published November 2019 | Submitted
Book Section - Chapter Open

First Steps Towards Full Model Based Motion Planning and Control of Quadrupeds: A Hybrid Zero Dynamics Approach

Abstract

The hybrid zero dynamics (HZD) approach has become a powerful tool for the gait planning and control of bipedal robots. This paper aims to extend the HZD methods to address walking, ambling and trotting behaviors on a quadrupedal robot. We present a framework that systematically generates a wide range of optimal trajectories and then provably stabilizes them for the full-order, nonlinear and hybrid dynamical models of quadrupedal locomotion. The gait planning is addressed through a scalable nonlinear programming using direct collocation and HZD. The controller synthesis for the exponential stability is then achieved through the Poincaré sections analysis. In particular, we employ an iterative optimization algorithm involving linear and bilinear matrix inequalities (LMIs and BMIs) to design HZD-based controllers that guarantee the exponential stability of the fixed points for the Poincaré return map. The power of the framework is demonstrated through gait generation and HZD-based controller synthesis for an advanced quadruped robot, —Vision 60, with 36 state variables and 12 control inputs. The numerical simulations as well as real world experiments confirm the validity of the proposed framework.

Additional Information

© 2019 IEEE. The work of WL. Ma and A. D. Ames are supported by NSF grants 1724464, 1544332 and 1724457. The work of K. Akbari Hamed is supported by the NSF grants 1854898 and 1906727.

Attached Files

Submitted - 1909.08124.pdf

Files

1909.08124.pdf
Files (4.3 MB)
Name Size Download all
md5:391dd21f211a1f5c90515e53de468376
4.3 MB Preview Download

Additional details

Created:
August 19, 2023
Modified:
October 18, 2023