Unification of Locomotion Pattern Generation and Control Lyapunov Function-Based Quadratic Programs
Author(s)
Chao, Kenneth Y.
Powell, Matthew J.
Ames, Aaron D.
Hur, Pilwon
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Abstract
This paper presents a novel method of combining
real-time walking pattern generation and constrained nonlinear
control to achieve robotic walking under Zero-Moment Point
(ZMP) and torque constraints. The proposed method leverages
the fact that existing solutions to both walking pattern generation
and constrained nonlinear control have been independently
constructed as Quadratic Programs (QPs) and that these
constructions can be related through an equality constraint on
the instantaneous acceleration of the center of mass. Speci cally,
the proposed method solves a single Quadratic Program which
incorporates elements from Model Predictive Control (MPC)
based center of mass planning methods and from rapidly
exponentially stabilizing control Lyapunov function (RES-CLF)
methods. The resulting QP-based controller simultaneously
solves for a COM trajectory that satis es ZMP constraints
over a future horizon while also producing joint torques
consistent with instantaneous acceleration, torque, ZMP and
RES-CLF constraints. The method is developed for simulation
and experimental study on a seven-link, planar robot.
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Date
2016-07
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Text
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Proceedings