Uploaded May 2018 | Updated September 2026, 2 weeks ago
ICRA 2018 Spotlight Video
Interactive Session Tue AM Pod H.4
Authors: Fan, Fletcher; Manchester, Ian
Title: Robust Control of Dynamic Walking Robots Using Transverse $
Abstract:
The control of walking robots has been a long-studied problem as researchers attempt to bring robots out of the lab and into unstructured environments. In particular, there is significant interest in dynamic walkers: a class of walking robots that exhibit highly efficient gaits, but are sensitive to disturbances. This paper develops robust controllers for dynamic walkers in transverse coordinates using $ control, with a focus on rejecting disturbances at foot impact. The optimization objective is a measure of disturbance rejection known as the gait sensitivity norm. The controller was used to stabilise a compass gait walker in simulation for various disturbances. Simulation results demonstrate the advantages of phase-tracking and $ control for robustness compared to time-varying and LQR controllers.
ICRA 2018 Spotlight Video
Interactive Session Tue AM Pod H.4
Authors: Fan, Fletcher; Manchester, Ian
Title: Robust Control of Dynamic Walking Robots Using Transverse $
Abstract:
The control of walking robots has been a long-studied problem as researchers attempt to bring robots out of the lab and into unstructured environments. In particular, there is significant interest in dynamic walkers: a class of walking robots that exhibit highly efficient gaits, but are sensitive to disturbances. This paper develops robust controllers for dynamic walkers in transverse coordinates using $ control, with a focus on rejecting disturbances at foot impact. The optimization objective is a measure of disturbance rejection known as the gait sensitivity norm. The controller was used to stabilise a compass gait walker in simulation for various disturbances. Simulation results demonstrate the advantages of phase-tracking and $ control for robustness compared to time-varying and LQR controllers.
