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SLIP Walking Over Rough Terrain via H-LIP Stepping and Backstepping-Barrier Function Inspired Quadratic Program | IEEE Journals & Magazine | IEEE Xplore

SLIP Walking Over Rough Terrain via H-LIP Stepping and Backstepping-Barrier Function Inspired Quadratic Program


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 philo...Show More

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.
Published in: IEEE Robotics and Automation Letters ( Volume: 6, Issue: 2, April 2021)
Page(s): 2122 - 2129
Date of Publication: 23 February 2021

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