二足歩行ロボットの入力対状態安定性：DURUSへの応用
Input to State Stability of Bipedal Walking Robots: Application to DURUS
モデルベースおよび位相ベースの不確実性下でも安定な歩行を実現するため、連続ダイナミクスの指数入力対状態安定化とハイブリッド不変条件が十分条件となることを示し、23自由度二足歩行ロボットDURUSで実験的に検証した。
著者: Shishir Kolathaya, Jacob Reher, Aaron D. Ames
分類: math.OC, cs.RO
原文アブストラクト
Bipedal robots are a prime example of systems which exhibit highly nonlinear dynamics, underactuation, and undergo complex dissipative impacts. This paper discusses methods used to overcome a wide variety of uncertainties, with the end result being stable bipedal walking. The principal contribution of this paper is to establish sufficiency conditions for yielding input to state stable (ISS) hybrid periodic orbits, i.e., stable walking gaits under model-based and phase-based uncertainties. In particular, it will be shown formally that exponential input to state stabilization (e-ISS) of the continuous dynamics, and hybrid invariance conditions are enough to realize stable walking in the 23-DOF bipedal robot DURUS. This main result will be supported through successful and sustained walking of the bipedal robot DURUS in a laboratory environment.
