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SLIP Walking Over Rough Terrain via H-LIP Stepping and Backstepping-Barrier Function Inspired Quadratic Program
- Source :
- IEEE Robotics and Automation Letters. 6:2122-2129
- Publication Year :
- 2021
- Publisher :
- Institute of Electrical and Electronics Engineers (IEEE), 2021.
-
Abstract
- We present an advanced and novel control method to enable actuated Spring Loaded Inverted Pendulum model to walk over rough and challenging terrains. The high-level philosophy is the decoupling of the controls of the vertical and horizontal states. The vertical state is controlled via Backstepping-Barrier Function (BBF) based quadratic programs: a combination of control Lyapunov backstepping and control barrier function, both of which provide inequality constraints on the inputs. The horizontal state is stabilized via Hybrid-Linear Inverted Pendulum (H-LIP) based stepping, which has a closed-form formulation. Therefore, the implementation is computationally-efficient. We evaluate our method in simulation, which demonstrates the aSLIP walking over various terrains, including slopes, stairs, and general rough terrains with uncertainties.<br />Comment: 8 pages, 7 figures. To Appear in IEEE Robotics and Automation Letters, 2021
- Subjects :
- FOS: Computer and information sciences
Lyapunov function
0209 industrial biotechnology
Control and Optimization
Computer science
Biomedical Engineering
Terrain
02 engineering and technology
Inverted pendulum
Computer Science - Robotics
symbols.namesake
020901 industrial engineering & automation
Quadratic equation
Artificial Intelligence
Control theory
0202 electrical engineering, electronic engineering, information engineering
Quadratic programming
Slip (aerodynamics)
Mechanical Engineering
Decoupling (cosmology)
Computer Science Applications
Human-Computer Interaction
Control and Systems Engineering
Backstepping
symbols
020201 artificial intelligence & image processing
Computer Vision and Pattern Recognition
Robotics (cs.RO)
Subjects
Details
- ISSN :
- 23773774
- Volume :
- 6
- Database :
- OpenAIRE
- Journal :
- IEEE Robotics and Automation Letters
- Accession number :
- edsair.doi.dedup.....6305b92b83d3e6d6c4906937ba4d0631