SLIP Walking Over Rough Terrain via H-LIP Stepping and Backstepping-Barrier Function Inspired Quadratic Program
- Creators
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Xiong, Xiaobin
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Ames, Aaron
Abstract
We present an advanced and novel control method to enable actuated Spring Loaded Inverted Pendulum model to walk over rough and challenging terrains. The high-level philosophy is the decoupling of the controls of the vertical and horizontal states. The vertical state is controlled via Backstepping-Barrier Function (BBF) based quadratic programs: a combination of control Lyapunov backstepping and control barrier function, both of which provide inequality constraints on the inputs. The horizontal state is stabilized via Hybrid-Linear Inverted Pendulum (H-LIP) based stepping, which has a closed-form formulation. Therefore, the implementation is computationally-efficient. We evaluate our method in simulation, which demonstrates the aSLIP walking over various terrains, including slopes, stairs, and general rough terrains with uncertainties.
Additional Information
© 2021 IEEE. Manuscript received October 15, 2020; accepted February 16, 2021. Date of publication February 23, 2021; date of current version March 11, 2021. This letter was recommended for publication by Associate Editor P.-B. Wieber and Editor A. Kheddar upon evaluation of the reviewers' comments. This work was supported by NSF 1924526 and 1923239.Attached Files
Accepted Version - 2102.09691.pdf
Files
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Additional details
- Eprint ID
- 108200
- Resolver ID
- CaltechAUTHORS:20210225-132704894
- NSF
- ECCS-1924526
- NSF
- CMMI-1923239
- Created
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2021-02-26Created from EPrint's datestamp field
- Updated
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2021-11-16Created from EPrint's last_modified field