2018/10/01 by Sushant Veer, Veer, Sushant, Ioannis Poulakakis +1
Engineering · #FOS: Computer and information sciences #FOS: Electrical engineering #Modular Robots and Swarm Intelligence #Prosthetics and Rehabilitation Robotics #Robotic Locomotion and Control #Robotics (cs.RO) #Systems and Control (eess.SY) #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.1810.00527
openalex publication_date 2018/10/01 · openalex created_date 2022/08/02 · openalex updated_date 2026/07/28
Complex motions for robots are frequently generated by switching among a\ncollection of individual movement primitives. We use this approach to formulate\nrobot motion plans as sequences of primitives to be executed one after the\nother. When dealing with dynamical movement primitives, besides accomplishing\nthe high-level objective, planners must also reason about the effect of the\nplan's execution on the safety of the platform. This task becomes more daunting\nin the presence of disturbances, such as external forces. To alleviate this\nissue, we present a framework that builds on rigorous control-theoretic tools\nto generate safely-executable motion plans for externally excited robotic\nsystems. Our framework is illustrated on a 3D limit-cycle gait bipedal robot\nthat adapts its walking pattern to persistent external forcing.\n