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Robotics Research pp 635–650Cite as

Hybrid System Identification via Switched System Optimal Control for Bipedal Robotic Walking

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Part of the book series: Springer Tracts in Advanced Robotics ((STAR,volume 100))

Abstract

While the goal of robotic bipedal walking to date has been the development of anthropomorphic gait, the community as a whole has been unable to agree upon an appropriate model to generate such gait. In this paper, we describe a method to segment human walking data in order to generate a robotic model capable of human-like walking. Generating the model requires the determination of the sequence of contact point enforcements which requires solving a combinatorial scheduling problem. We resolve this problem by transforming the detection of contact point enforcements into a constrained switched system optimal control problem for which we develop a provably convergent algorithm. We conclude the paper by illustrating the performance of the algorithm on identifying a model for robotic bipedal walking.

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Acknowledgements

I would like to thank Sam Burden for the many conversations on system identification, Humberto Gonzalez and Maryam Kamgarpour for their help with the development of the switched system optimal control algorithm, Ryan Sinnet for his help with robotic model considered in the Application Section. I am also grateful to Aaron Ames for the many insightful discussions on bipedal walking and system identification and Ruzena Bajcsy for her willingness to try to solve hard problems. This research is supported in part by NSF Awards CCR-0325274, CNS-0953823, ECCS-0931437, IIS-0703787, IIS-0724681, IIS-0840399 and NHARP Award 000512-0184-2009.

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Authors and Affiliations

  1. Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI, 48109, USA

    Ram Vasudevan

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  1. Ram Vasudevan
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Correspondence to Ram Vasudevan .

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Editors and Affiliations

  1. Robotics and Intelligent Machines, Georgia Institute of Technology College of Computing, Atlanta, Georgia, USA

    Henrik I. Christensen

  2. Department of Computer Science, Stanford University, Stanford, California, USA

    Oussama Khatib

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Vasudevan, R. (2017). Hybrid System Identification via Switched System Optimal Control for Bipedal Robotic Walking. In: Christensen, H., Khatib, O. (eds) Robotics Research . Springer Tracts in Advanced Robotics, vol 100. Springer, Cham. https://doi.org/10.1007/978-3-319-29363-9_36

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  • DOI: https://doi.org/10.1007/978-3-319-29363-9_36

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-29362-2

  • Online ISBN: 978-3-319-29363-9

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