2D bipedal walking with knees and feet: A hybrid control approach

Sinnet, Ryan W.; Ames, Aaron D.

doi:10.1109/cdc.2009.5400503

Cited by 25 publications

(15 citation statements)

References 14 publications

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“…The Compass gait biped model [9,29] is a two dimensional unactuated rigid body system placed on a downward surface inclined at a fixed angle γ from the horizontal plane. A diagram of the model is shown in Fig .4(c) with its physical parameters.…”

Section: A Compass Gait Biped Examplementioning

confidence: 99%

Compile-Time Extensions to Hybrid ODEs

Zeng

Bartha

Taha

2017

Electron. Proc. Theor. Comput. Sci.

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Reachability analysis for hybrid systems is an active area of development and has resulted in many promising prototype tools. Most of these tools allow users to express hybrid system as automata with a set of ordinary differential equations (ODEs) associated with each state, as well as rules for transitions between states. Significant effort goes into developing and verifying and correctly implementing those tools. As such, it is desirable to expand the scope of applicability tools of such as far as possible. With this goal, we show how compile-time transformations can be used to extend the basic hybrid ODE formalism traditionally supported in hybrid reachability tools such as SpaceEx or Flow*. The extension supports certain types of partial derivatives and equational constraints. These extensions allow users to express, among other things, the Euler-Lagrangian equation, and to capture practically relevant constraints that arise naturally in mechanical systems. Achieving this level of expressiveness requires using a binding time-analysis (BTA), program differentiation, symbolic Gaussian elimination, and abstract interpretation using interval analysis. Except for BTA, the other components are either readily available or can be easily added to most reachability tools. The paper therefore focuses on presenting both the declarative and algorithmic specifications for the BTA phase, and establishes the soundness of the algorithmic specifications with respect to the declarative one.

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Section: A Compass Gait Biped Examplementioning

confidence: 99%

Compile-Time Extensions to Hybrid ODEs

Zeng

Bartha

Taha

2017

Electron. Proc. Theor. Comput. Sci.

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“…Hybrid systems can be defined in many different ways depending on the level of generality needed to model a given robot (Ames et al, 2011;Sinnet and Ames, 2009;Grizzle et al, 2010;Westervelt et al, 2007). A definition specialised to the models under study is introduced below:…”

Section: Hybrid Systemsmentioning

confidence: 99%

A human-inspired framework for bipedal robotic walking design

Sinnet

Jiang

Ames

2014

IJBBR

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This work seeks virtual constraints, or outputs, that are intrinsic to human walking and utilises these outputs to construct controllers which produce human-like bipedal robotic walking. Beginning with experimental human walking data, human outputs are sought, i.e., functions of the kinematics of the human over time, which provides a low-dimensional representation of human walking. It will be shown that, for these outputs, humans act like linear mass-springdampers; this yields a time representation of the human outputs through canonical walking functions. Combining these formulations leads to human-inspired controllers that, when utilised in an optimisation problem, provably result in robotic walking that is as 'human-like' as possible. This human-inspired approach is applied to multiple human output combinations, from which it is determined which output combination results in the most human-like walking for a robotic model with mean human parameters.

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“…To achieve anthropomorphic walking, it seems only reasonable to study human walking patterns and create a hybrid model based on the results of such a study. Indeed, human walking has been studied (see Zatsiorsky [1997], Sutherland et al [2005]) and hybrid models have been created (see Grizzle et al [2001], Sinnet and Ames [2009]); however, only recently have these endeavors been combined in an effort to create human-inspired bipedal robotic walking (see Srinivasan et al [2008]). This paper, therefore, attempts to reconcile these ideas and obtain robotic walking as graceful as a human gait.…”

Section: Introductionmentioning

confidence: 99%