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Stable Dynamic Walking over Rough Terrain

Theory and Experiment

  • Conference paper
Robotics Research

Part of the book series: Springer Tracts in Advanced Robotics ((STAR,volume 70))

Abstract

We propose a constructive control design for stabilization of non-periodic trajectories of underactuated mechanical systems. An important example of such a system is an underactuated “dynamic walking” biped robot walking over rough terrain. The proposed technique is to compute a transverse linearization about the desired motion: a linear impulsive system which locally represents dynamics about a target trajectory. This system is then exponentially stabilized using a modified receding-horizon control design. The proposed method is experimentally verified using a compass-gait walker: a two-degree-of-freedom biped with hip actuation but pointed stilt-like feet. The technique is, however, very general and can be applied to higher degree-of-freedom robots over arbitrary terrain and other impulsive mechanical systems.

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Author information

Authors and Affiliations

  1. Computer Science and Artificial Intelligence Lab, Massachusetts Institute of Technology, Cambridge, MA, 02139, USA

    Ian R. Manchester & Russ Tedrake

  2. Department of Applied Physics and Electronics, Umeå University, SE-901 87, Umeå, Sweden

    Uwe Mettin

  3. Institute of Robotics and Intelligent Systems, Department of Mechanical and Process Engineering, ETH Zurich, CH-8092, Zurich, Switzerland

    Fumiya Iida

Authors
  1. Ian R. Manchester
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  2. Uwe Mettin
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  3. Fumiya Iida
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  4. Russ Tedrake
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Editor information

Editors and Affiliations

  1. Institute of Robotics and Intelligent Systems Autonomous Systems Lab , ETH Zürich, Tannenstrasse 3, 8092, Zürich, Switzerland

    Cédric Pradalier  & Roland Siegwart  & 

  2. Institute of Robotics and Mechatronics , German Aerospace Center (DLR), Münchner Strasse 20, 82234, Oberpfaffenhofen-Wessling, Germany

    Gerhard Hirzinger

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© 2011 Springer-Verlag Berlin Heidelberg

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Manchester, I.R., Mettin, U., Iida, F., Tedrake, R. (2011). Stable Dynamic Walking over Rough Terrain. In: Pradalier, C., Siegwart, R., Hirzinger, G. (eds) Robotics Research. Springer Tracts in Advanced Robotics, vol 70. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-19457-3_8

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  • DOI: https://doi.org/10.1007/978-3-642-19457-3_8

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-19456-6

  • Online ISBN: 978-3-642-19457-3

  • eBook Packages: EngineeringEngineering (R0)

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