Control Lyapunov Function (CLF-based) Feedback Controller on MABEL
A new approach to implementing virtual constraints on bipedal robots is presented. The control law is based on control Lyapunov functions (CLF) and is validated experimentally on MABEL. MABEL starts walking under the standard input-output linearizing controller and then shifts to the CLF controller, which selects the minimum control value that guarantees desired rate of convergence to the periodic walking gait.
Видео Control Lyapunov Function (CLF-based) Feedback Controller on MABEL канала Michigan Robotics: Dynamic Legged Locomotion Lab
Видео Control Lyapunov Function (CLF-based) Feedback Controller on MABEL канала Michigan Robotics: Dynamic Legged Locomotion Lab
Показать
Комментарии отсутствуют
Информация о видео
26 ноября 2012 г. 21:24:27
00:01:08
Другие видео канала
Wandercraft at Viva Technology 24 May 2018Cassie Blue's POV when visting the First Robotics World Championships in Detroit on April 26, 2018Cassie vs The HillMARLO vs Wave Field: Round 2 (Blindfolded) [Long Version]Cassie on a 1.2 m/s Moving WalkwayFully Autonomy on the Wave Field 2021Walking and U Turn Near EECS BuildingBipedal Robot Rabbit: Falling when controller is turned off (Grenoble, March 2003)Nonholonomic Virtual Constraints and Gait Optimization for Robust Walking ControlTales of the EncoderBipedal Robot MABEL Traverses Uneven Terrain Using Touch Instead of Sight8 inch (20 cm) Blind Step-down Experiment on Bipedal Robot MABELTerrain-Adaptive, ALIP-Based Bipedal Locomotion Controller via MPC and Virtual Constraints-ShortBipedal Robot Rabbit: Six running steps (Grenoble, September 2004)MABEL Walking - Virtual Constraints designed by handCassie Autonomously Navigates in Four Long Corridors (200 meters)Second Practice Session For MARLO vs the Wave FieldBipedal Robot Rabbit: Extended Perturbation (Grenoble 3 Sept 2004)Scenes of the UM Campus seen through the eyes of a bipedal robot: InEKF LiDAR mapping on Cassie BlueWalking Gait Optimization for Accommodation of Unknown Terrain Height Variations