Walking with Confidence: Safety Regulation for Full Order Biped Models

Smit-Anseeuw, Nils; Remy, C. David; Vasudevan, Ram

doi:10.48550/arxiv.1903.08327

Cited by 1 publication

(1 citation statement)

References 0 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…As a result, it is non-trivial to switch between multiple constructed controllers while preserving any safety guarantee. Recent work has extended the ability of the hybrid zero dynamic approach beyond a single neighborhood of any synthesized gait [9]- [12]. These extensions either assume fullactuation [11] or ignore the behavior of the legged system off the lower dimensional manifold [9], [10], [12].…”

Section: Introductionmentioning

confidence: 99%

Leveraging the Template and Anchor Framework for Safe, Online Robotic Gait Design

Liu

Zhao

Gan

et al. 2019

Preprint

Self Cite

View full text Add to dashboard Cite

Online control design using a high-fidelity, full-order model for a bipedal robot can be challenging due to the size of the state space of the model. A commonly adopted solution to overcome this challenge is to approximate the full-order model (anchor) with a simplified, reduced-order model (template), while performing control synthesis. Unfortunately it is challenging to make formal guarantees about the safety of an anchor model using a controller designed in an online fashion using a template model. To address this problem, this paper proposes a method to generate safety-preserving controllers for anchor models by performing reachability analysis on template models while bounding the modeling error. This paper describes how this reachable set can be incorporated into a Model Predictive Control framework to select controllers that result in safe walking on the anchor model in an online fashion. The method is illustrated on a 5-link RABBIT model, and is shown to allow the robot to walk safely while utilizing controllers designed in an online fashion.

show abstract