Exponentially Stabilizing Controllers for Multi-Contact 3d Bipedal Locomotion

dc.contributor.authorHamed, K. A.
dc.contributor.authorGregg, Robert D.
dc.contributor.authorAmes, A. D.
dc.contributor.utdAuthorGregg, Robert D.
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dc.description.abstractModels of bipedal walking are hybrid with continuous-time phases representing the Lagrangian stance dynamics and discrete-time transitions representing the impact of the swing leg with the walking surface. The design of continuous-time feedback controllers that exponentially stabilize periodic gaits for hybrid models of underactuated 3D bipedal walking is a significant challenge. We recently introduced a method based on an iterative sequence of optimization problems involving bilinear matrix inequalities (BMIs) to systematically design stabilizing continuous-time controllers for single domain hybrid models of underactuated bipedal robots with point feet. This paper addresses the exponential stabilization problem for multi-contact walking gaits with nontrivial feet. A family of parameterized continuous-time controllers is proposed for different phases of the walking cycle. The BMI algorithm is extended to the multi-domain hybrid models of anthropomorphic 3D walking locomotion to look for stabilizing controller parameters. The Poincaré map is addressed and a new set of sufficient conditions is presented that guarantees the convergence of the BMI algorithm to a stabilizing set of controller parameters at a finite number of iterations. The power of the algorithm is ultimately demonstrated through the design of stabilizing virtual constraint controllers for dynamic walking of a 3D humanoid model with 28 state variables and 275 controller parameters.
dc.description.departmentErik Jonsson School of Engineering and Computer Science
dc.identifier.bibliographicCitationHamed, K. A., R. D. Gregg, and A. D. Ames. 2018. "Exponentially stabilizing controllers for multi-contact 3d bipedal locomotion." Proceedings of the American Control Conference: 2210-2217, doi:10.23919/ACC.2018.8431799
dc.identifier.issn07431619; 9781538654286 (ISBN)
dc.publisherInstitute of Electrical and Electronics Engineers Inc.
dc.rights©2018 AACC
dc.source.journalProceedings of the American Control Conference, 2018
dc.subjectThree-dimensional modeling
dc.subjectHeuristic algorithms
dc.subjectAdaptive control systems
dc.titleExponentially Stabilizing Controllers for Multi-Contact 3d Bipedal Locomotion
dc.title.alternativeProceedings Of The American Control Conference; 2018 Annual American Control Conference, Acc 2018


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