2018/01/07 by Salman Faraji, Faraji, Salman, Muellhaupt, Philippe +3
Engineering · Medicine · #FOS: Computer and information sciences #Neurogenetic and Muscular Disorders Research #Prosthetics and Rehabilitation Robotics #Robotic Locomotion and Control #Robotics (cs.RO)
paper · pdf · doi:10.48550/arxiv.1801.02150
openalex publication_date 2018/01/07 · openalex created_date 2022/09/30 · openalex updated_date 2026/07/28
We present a new walking controller based on 3LP, a 3D model of bipedal\nwalking that is composed of three pendulums to simulate falling, swing and\ntorso dynamics. Taking advantage of linear equations and closed-form solutions\nof 3LP, the proposed controller projects intermediate states of the biped back\nto the beginning of the phase for which a discrete LQR controller is designed.\nAfter the projection, a proper control policy is generated by this LQR\ncontroller and used at the intermediate time. The projection controller reacts\nto disturbances immediately and compared to the discrete LQR controller, it\nprovides superior performance in recovering intermittent external pushes.\nFurther analysis of closed-loop eigenvalues and disturbance rejection strength\nshow strong stabilization properties for this architecture. An analysis of\nviable regions also show that the proposed controller covers most of the\nmaximal viable set of states. It is computationally much faster than Model\nPredictive Controllers (MPC) and yet optimal over an infinite horizon.\n