Robotics: Science and Systems XI

Optimal Robust Control for Bipedal Robots through Control Lyapunov Function based Quadratic Programs

Quan Nguyen, Koushil Sreenath

Abstract:

This paper builds off of recent work on rapidly exponentially stabilizing control Lyapunov functions (RES-CLF) and control Lyapunov function based quadratic programs (CLF-QP) for underactuated hybrid systems. The primary contribution of this paper is developing a robust control technique for underactuated hybrid systems with application to bipedal walking, that is able to track desired trajectories with significant model perturbation (mass and inertia increased by up to 200%.) We evaluate our proposed control design on a model of RABBIT, a five-link planar bipedal robot.

Download:

Bibtex:

  
@INPROCEEDINGS{Nguyen-RSS-15, 
    AUTHOR    = {Quan Nguyen AND Koushil Sreenath}, 
    TITLE     = {Optimal Robust Control for Bipedal Robots through Control Lyapunov Function based Quadratic Programs}, 
    BOOKTITLE = {Proceedings of Robotics: Science and Systems}, 
    YEAR      = {2015}, 
    ADDRESS   = {Rome, Italy}, 
    MONTH     = {July},
    DOI       = {10.15607/RSS.2015.XI.048} 
}