Bio-Inspired Feedback   Control of Three-Dimensional   Humanlike Bipedal Robots

Ryan W. Sinnet; Aaron D. Ames

doi:10.20965/jrm.2012.p0595

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JRM Vol.24 No.4 pp. 595-601

doi: 10.20965/jrm.2012.p0595

(2012)

Paper:

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Bio-Inspired Feedback Control of Three-Dimensional Humanlike Bipedal Robots

Ryan W. Sinnet and Aaron D. Ames

Department of Mechanical Engineering, Texas A&M University, 200 MEOB, 3123 TAMU, College Station, Texas 77843-3123, USA

Received:

February 1, 2012

Accepted:

May 2, 2012

Published:

August 20, 2012

Keywords:

bipedal robotic walking, geometric reduction

Abstract

Bridging contemporary techniques in bio-inspired control affords a unique perspective into human locomotion where the interplay between sagittal and coronal dynamics is understood and exploited to simplify control design. Functional Routhian reduction is particularly useful on bipeds as it decouples these dynamics, allowing for control design on a sagittallyrestricted model while providing coronal stabilization. 2D sagittal walking is designed using Human-Inspired Control which produces humanlike walking with good stability properties. This walking is then easily translated to 3D via reduction. The proposed control scheme, which is based on a fundamental understanding of human walking, is validated in both simulation and experiment.

Cite this article as:

R. Sinnet and A. Ames, “Bio-Inspired Feedback Control of Three-Dimensional Humanlike Bipedal Robots,” J. Robot. Mechatron., Vol.24 No.4, pp. 595-601, 2012.

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References

[1] S. H. Collins, A. Ruina, R. Tedrake, and M. Wisse, “Efficient Bipedal Robots Based on Passive-Dynamic Walkers,” Science, Vol.307, pp. 1082-1085, February 2005.
[2] M. Vukobratović and B. Borovac, “Zero-Moment Point – Thirty-Five Years of Its Life,” Int. J. of Humanoid Robotics, Vol.1, No.1, pp. 157-173, March 2005.
[3] E. R. Westervelt, J. W. Grizzle, C. Chevallereau, J. H. Choi, and B. Morris, “Feedback Control of Dynamic Bipedal Robot Locomotion,” CRC Press, Boca Raton, June 2007.
[4] A. D. Ames, R. Vasudevan, and R. Bajcsy, “Human-Data Based Cost of Bipedal Robotic Walking,” In 14th Int. Conf. on Hybrid Systems: Computation and Control, pp. 153-162, Chicago, April 2011.
[5] R. W. Sinnet, M. J. Powell, R. P. Shah, and A. D. Ames, “A Human-Inspired Hybrid Control Approach to Bipedal Robotic Walking,” In 18th IFAC World Congress, pp. 6904-6911, Milan, September 2011.
[6] R. W. Sinnet and A. D. Ames, “3D Bipedal Walking with Knees and Feet: A Hybrid Geometric Approach,” In 48th IEEE Conf. on Decision and Control and 28th Chinese Control Conf., pp. 3208-3213, Shanghai, December 2009.
[7] A. D. Ames, “First Steps Toward Automatically Generating Bipedal Robotic Walking from Human Data,” In 8th Int. Workshop on Robotic Motion and Control, RoMoCo’11, Gronów, June 2011.
[8] A. D. Ames, E. A. Cousineau, and M. J. Powell, “Dynamically Stable Bipedal Robotic Walking with NAO via Human-Inspired Hybrid Zero Dynamics,” In Hybrid Systems: Computation and Control, Beijing, 2012.
[9] A. D. Ames, R. W. Sinnet, and E. D. B. Wendel, “Three-Dimensional Kneed Bipedal Walking: A Hybrid Geometric Approach,” In R. Majumdar and P. Tabuada (Eds.), 12th ACM Int. Conf. on Hybrid Systems: Computation and Control, Lecture Notes in Computer Science – HSCC 2009, Vol.5469, pp. 16-30, San Francisco, Springer Verlag, April 2009.
[10] J. W. Grizzle, C. Chevallereau, A. D. Ames, and R. W. Sinnet, “3D bipedal robotic walking: models, feedback control, and open problems,” In IFAC Symposium on Nonlinear Control Systems, Bologna, September 2010.
[11] B. Morris and J. W. Grizzle, “A Restricted Poincaré Map for Determining Exponentially Stable Periodic Orbits in Systems with Impulse Effects: Application to Bipedal Robots,” In 44th IEEE Conf. on Decision and Control and European Control Conf., Sevilla, December 2005.
[12] R. W. Sinnet, M. J. Powell, S. Jiang, and A. D. Ames, “Compass Gait Revisited: A Human Data Perspective with Extensions to Three Dimensions,” In 50th IEEE Conf. on Decision and Control and European Control Conf., Orlando, December 2011.
[13] R. M. Murray, Z. Li, and S. S. Sastry, “AMathematical Introduction to Robotic Manipulation,” CRC Press, Boca Raton, March 1994.
[14] Y. Hürmüzlü and D. B. Marghitu, “Rigid body collisions of planar kinematic chains with multiple contact points,” Int. J. of Robotics Research, Vol.13, No.1, pp. 82-92, February 1994.
[15] J. E. Marsden and T. S. Ratiu, “Introduction toMechanics and Symmetry,” Vol.17 of Texts in Applied Mathematics, Springer, 1999.
[16] A. D. Ames, “A Categorical Theory of Hybrid Systems,” Ph.D. thesis, University of California, Berkeley, 2006.
[17] A. D. Ames and R. D. Gregg, “Stably Extending Two-Dimensional BipedalWalking to Three Dimensions,” In American Control Conf., pp. 2848-2854, July 2007.
[18] S. H. Collins and A. Ruina, “A Bipedal Walking Robot with Efficient and Human-Like Gait,” In IEEE Int. Conf. Robotics and Automation, pp. 1983-1988, Barcelona, April 2005.

This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1] S. H. Collins, A. Ruina, R. Tedrake, and M. Wisse, “Efficient Bipedal Robots Based on Passive-Dynamic Walkers,” Science, Vol.307, pp. 1082-1085, February 2005.

[2] [2] M. Vukobratović and B. Borovac, “Zero-Moment Point – Thirty-Five Years of Its Life,” Int. J. of Humanoid Robotics, Vol.1, No.1, pp. 157-173, March 2005.

[3] [3] E. R. Westervelt, J. W. Grizzle, C. Chevallereau, J. H. Choi, and B. Morris, “Feedback Control of Dynamic Bipedal Robot Locomotion,” CRC Press, Boca Raton, June 2007.

[4] [4] A. D. Ames, R. Vasudevan, and R. Bajcsy, “Human-Data Based Cost of Bipedal Robotic Walking,” In 14th Int. Conf. on Hybrid Systems: Computation and Control, pp. 153-162, Chicago, April 2011.

[5] [5] R. W. Sinnet, M. J. Powell, R. P. Shah, and A. D. Ames, “A Human-Inspired Hybrid Control Approach to Bipedal Robotic Walking,” In 18th IFAC World Congress, pp. 6904-6911, Milan, September 2011.

[6] [6] R. W. Sinnet and A. D. Ames, “3D Bipedal Walking with Knees and Feet: A Hybrid Geometric Approach,” In 48th IEEE Conf. on Decision and Control and 28th Chinese Control Conf., pp. 3208-3213, Shanghai, December 2009.

[7] [7] A. D. Ames, “First Steps Toward Automatically Generating Bipedal Robotic Walking from Human Data,” In 8th Int. Workshop on Robotic Motion and Control, RoMoCo’11, Gronów, June 2011.

[8] [8] A. D. Ames, E. A. Cousineau, and M. J. Powell, “Dynamically Stable Bipedal Robotic Walking with NAO via Human-Inspired Hybrid Zero Dynamics,” In Hybrid Systems: Computation and Control, Beijing, 2012.

[9] [9] A. D. Ames, R. W. Sinnet, and E. D. B. Wendel, “Three-Dimensional Kneed Bipedal Walking: A Hybrid Geometric Approach,” In R. Majumdar and P. Tabuada (Eds.), 12th ACM Int. Conf. on Hybrid Systems: Computation and Control, Lecture Notes in Computer Science – HSCC 2009, Vol.5469, pp. 16-30, San Francisco, Springer Verlag, April 2009.

[10] [10] J. W. Grizzle, C. Chevallereau, A. D. Ames, and R. W. Sinnet, “3D bipedal robotic walking: models, feedback control, and open problems,” In IFAC Symposium on Nonlinear Control Systems, Bologna, September 2010.

[11] [11] B. Morris and J. W. Grizzle, “A Restricted Poincaré Map for Determining Exponentially Stable Periodic Orbits in Systems with Impulse Effects: Application to Bipedal Robots,” In 44th IEEE Conf. on Decision and Control and European Control Conf., Sevilla, December 2005.

[12] [12] R. W. Sinnet, M. J. Powell, S. Jiang, and A. D. Ames, “Compass Gait Revisited: A Human Data Perspective with Extensions to Three Dimensions,” In 50th IEEE Conf. on Decision and Control and European Control Conf., Orlando, December 2011.

[13] [13] R. M. Murray, Z. Li, and S. S. Sastry, “AMathematical Introduction to Robotic Manipulation,” CRC Press, Boca Raton, March 1994.

[14] [14] Y. Hürmüzlü and D. B. Marghitu, “Rigid body collisions of planar kinematic chains with multiple contact points,” Int. J. of Robotics Research, Vol.13, No.1, pp. 82-92, February 1994.

[15] [15] J. E. Marsden and T. S. Ratiu, “Introduction toMechanics and Symmetry,” Vol.17 of Texts in Applied Mathematics, Springer, 1999.

[16] [16] A. D. Ames, “A Categorical Theory of Hybrid Systems,” Ph.D. thesis, University of California, Berkeley, 2006.

[17] [17] A. D. Ames and R. D. Gregg, “Stably Extending Two-Dimensional BipedalWalking to Three Dimensions,” In American Control Conf., pp. 2848-2854, July 2007.

[18] [18] S. H. Collins and A. Ruina, “A Bipedal Walking Robot with Efficient and Human-Like Gait,” In IEEE Int. Conf. Robotics and Automation, pp. 1983-1988, Barcelona, April 2005.