NDLI: Approximate optimal control of the compass gait on rough terrain

Content Provider	IEEE Xplore Digital Library
Author	Byl, K. Tedrake, R.
Copyright Year	2008
Description	Author affiliation: Comput. Sci. & Artificial Intell. Lab., MIT, Cambridge, MA (Byl, K.; Tedrake, R.)
Abstract	In this paper, we explore the capabilities of actuated models of the compass gait walker on rough terrain. We solve for the optimal high-level feedback policy to negotiate a perfectly known but qualitatively complex terrain, using a fixed low-level controller which selects a high-level action once- per-step. We also demonstrate that a one-step time horizon control strategy using the same low-level controller can provide performance which is surprisingly comparable to that of the infinite time horizon optimal policy. The model presented here uses a torque at the hip and an axially-directed impulsive toe-off applied just before each ground collision. Our results provide compelling evidence that actuated robots based on passive dynamic principles (e.g. no ankle torque) should inherently be capable of walking on significantly rough terrain.
Starting Page	1258
Ending Page	1263
File Size	1468508
Page Count	6
File Format	PDF
ISBN	9781424416462
ISSN	10504729
DOI	10.1109/ROBOT.2008.4543376
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2008-05-19
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Optimal control Legged locomotion Leg Torque Hip Testing Feedback Robust control Robotics and automation USA Councils
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

An optimization approach to rough terrain locomotion

Dynamically diverse legged locomotion for rough terrain

Bifurcations and chaos in passive walking of a compass-gait biped with asymmetries

Demonstration of quadrupedal locomotion over rough terrain using the littledog robot

A Robust Quadruped Walking Gait for Traversing Rough Terrain

Stable and robust walking with compliant legs

Control of hopping speed and height over unknown rough terrain using a single actuator

A control architecture for quadruped locomotion over rough terrain

Development of the IHMC Mobility Assist Exoskeleton

Approximate optimal control of the compass gait on rough terrain

Similar Documents

An optimization approach to rough terrain locomotion

Dynamically diverse legged locomotion for rough terrain

Bifurcations and chaos in passive walking of a compass-gait biped with asymmetries

Demonstration of quadrupedal locomotion over rough terrain using the littledog robot

A Robust Quadruped Walking Gait for Traversing Rough Terrain

Stable and robust walking with compliant legs

Control of hopping speed and height over unknown rough terrain using a single actuator

A control architecture for quadruped locomotion over rough terrain

Development of the IHMC Mobility Assist Exoskeleton

Approximate optimal control of the compass gait on rough terrain