Title:
Time Dependent Control Lyapunov Functions and Hybrid Zero Dynamics for Stable Robotic Locomotion
Time Dependent Control Lyapunov Functions and Hybrid Zero Dynamics for Stable Robotic Locomotion
| dc.contributor.author | Kolathaya, Shishir | en_US |
| dc.contributor.author | Hereid, Ayonga | en_US |
| dc.contributor.author | Ames, Aaron D. | en_US |
| dc.contributor.corporatename | Georgia Institute of Technology. Institute for Robotics and Intelligent Machines | en_US |
| dc.contributor.corporatename | Georgia Institute of Technology. School of Electrical and Computer Engineering | en_US |
| dc.contributor.corporatename | Georgia Institute of Technology. School of Mechanical Engineering | en_US |
| dc.date.accessioned | 2016-08-22T14:55:31Z | |
| dc.date.available | 2016-08-22T14:55:31Z | |
| dc.date.issued | 2016-07 | en_US |
| dc.description | © 2016 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works. | en_US |
| dc.description | DOI: 10.1109/ACC.2016.7525524 | en_US |
| dc.description.abstract | Implementing state-based parameterized periodic trajectories on complex robotic systems, e.g., humanoid robots, can lead to instability due to sensor noise exacerbated by dynamic movements. As a means of understanding this phenomenon, and motivated by field testing on the humanoid robot DURUS, this paper presents sufficient conditions for the boundedness of hybrid periodic orbits (i.e., boundedness of walking gaits) for time dependent control Lyapunov functions. In particular, this paper considers virtual constraints that yield hybrid zero dynamics with desired outputs that are a function of time or a state-based phase variable. If the difference between the phase variable and time is bounded, we establish exponential boundedness to the zero dynamics surface. These results are extended to hybrid dynamical systems, establishing exponential boundedness of hybrid periodic orbits, i.e., we show that stable walking can be achieved through time-based implementations of state-based virtual constraints. These results are verified on the bipedal humanoid robot DURUS both in simulation and experimentally; it is demonstrated that a close match between time based tracking and state based tracking can be achieved as long as there is a close match between the time and phase based desired output trajectories. | en_US |
| dc.identifier.citation | Kolathaya, S., Hereid, A., & Ames, A. D. (2016). Time Dependent Control Lyapunov Functions and Hybrid Zero Dynamics for Stable Robotic Locomotion. American Control Conference (ACC), Boston, MA, July 6-8, 2016, pp. 3916-3921. | en_US |
| dc.identifier.isbn | 978-1-4673-8680-7 | |
| dc.identifier.uri | http://hdl.handle.net/1853/55694 | |
| dc.language.iso | en_US | |
| dc.publisher | Georgia Institute of Technology | en_US |
| dc.publisher.original | Institute of Electrical and Electronics Engineers | en_US |
| dc.subject | Hybrid systems | en_US |
| dc.subject | Robotics | en_US |
| dc.subject | Stability of hybrid systems | en_US |
| dc.title | Time Dependent Control Lyapunov Functions and Hybrid Zero Dynamics for Stable Robotic Locomotion | en_US |
| dc.type | Text | |
| dc.type.genre | Proceedings | |
| dspace.entity.type | Publication | |
| local.contributor.corporatename | Institute for Robotics and Intelligent Machines (IRIM) | |
| local.contributor.corporatename | Advanced Mechanical Bipedal Experimental Robotics Lab | |
| relation.isOrgUnitOfPublication | 66259949-abfd-45c2-9dcc-5a6f2c013bcf | |
| relation.isOrgUnitOfPublication | 29d75055-4650-4521-943e-7f3cf6efc029 |