Leveraging the Template and Anchor Framework for Safe, Online Robotic Gait Design

Jinsun Liu, Pengcheng Zhao, Zhenyu Gan, Matthew Johnson-Roberson, Ram Vasudevan

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Online control design using a high-fidelity, full-order model for a bipedal robot can be challenging due to the size of the state space of the model. A commonly adopted solution to overcome this challenge is to approximate the fullorder model (anchor) with a simplified, reduced-order model (template), while performing control synthesis. Unfortunately it is challenging to make formal guarantees about the safety of an anchor model using a controller designed in an online fashion using a template model. To address this problem, this paper proposes a method to generate safety-preserving controllers for anchor models by performing reachability analysis on template models by relying on functions that bound the difference between the two models. This paper describes how this reachable set can be incorporated into a Model Predictive Control framework to select controllers that result in safe walking on the anchor model in an online fashion. The method is illustrated on a 5-link RABBIT model, and is shown to allow the robot to walk safely while utilizing controllers designed in an online fashion.

Original languageEnglish (US)
Title of host publication2020 IEEE International Conference on Robotics and Automation, ICRA 2020
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages10869-10875
Number of pages7
ISBN (Electronic)9781728173955
DOIs
StatePublished - May 2020
Externally publishedYes
Event2020 IEEE International Conference on Robotics and Automation, ICRA 2020 - Paris, France
Duration: May 31 2020Aug 31 2020

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Conference

Conference2020 IEEE International Conference on Robotics and Automation, ICRA 2020
CountryFrance
CityParis
Period5/31/208/31/20

Keywords

  • Bipeds
  • safety guarantee
  • underactuated system

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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