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Published December 14, 2021 | Accepted Version
Journal Article Open

Robust Stabilization of Periodic Gaits for Quadrupedal Locomotion via QP-Based Virtual Constraint Controllers

Abstract

This letter develops, theoretically justifies, and experimentally implements an optimization-based nonlinear control methodology for stabilizing quadrupedal locomotion. This framework utilizes virtual constraints and control Lyapunov functions (CLFs) in the context of quadratic programs (QPs) to robustly stabilize periodic orbits for hybrid models of quadrupedal robots. Properties of the proposed QP are studied wherein sufficient conditions for the continuous differentiability of the controller are presented. Additionally, this letter addresses the robust stabilization problem of the orbits based on the Poincaré sections analysis and input-to-state stability (ISS). The proposed controller is numerically and experimentally validated on the A1 quadrupedal robot with 18 degrees of freedom to demonstrate the robust stability of trotting gaits against external disturbances and unknown payloads.

Additional Information

© 2021 IEEE. Manuscript received September 13, 2021; revised November 19, 2021; accepted December 1, 2021. Date of publication December 7, 2021; date of current version December 14, 2021. The work of Randall T. Fawcett was supported by the National Science Foundation (NSF) under Grant 1906727. The work of Abhishek Pandala and Kaveh Akbari Hamed was supported by the NSF under Grant 1923216. The work of Aaron D. Ames was supported by the NSF under Grant 1923239. Recommended by Senior Editor J. Daafouz.

Attached Files

Accepted Version - Robust_Stabilization_of_Periodic_Gaits_for_Quadrupedal_Locomotion_via_QP-Based_Virtual_Constraint_Controllers.pdf

Files

Robust_Stabilization_of_Periodic_Gaits_for_Quadrupedal_Locomotion_via_QP-Based_Virtual_Constraint_Controllers.pdf

Additional details

Created:
August 22, 2023
Modified:
October 23, 2023