TY - GEN
T1 - Leveraging the Template and Anchor Framework for Safe, Online Robotic Gait Design
AU - Liu, Jinsun
AU - Zhao, Pengcheng
AU - Gan, Zhenyu
AU - Johnson-Roberson, Matthew
AU - Vasudevan, Ram
N1 - Funding Information:
Jinsun Liu is with the Robotics Institute, University of Michigan, Ann Arbor, MI 48109 jinsunl@umich.edu Pengcheng Zhao, Zhenyu Gan and Ram Vasudevan are with the Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI 48109 {pczhao,ganzheny,ramv}@umich.edu Matthew Johnson-Roberson is with the Department of Naval Architecture and Marine Engineering, University of Michigan, Ann Arbor, MI 48109 mattjr@umich.edu This work is supported by the Ford Motor Company via the Ford-UM Alliance under award N022977 and by the Office of Naval Research under Award Number N00014-18-1-2575. ∗These two authors contributed equally to this work.
Publisher Copyright:
© 2020 IEEE.
PY - 2020/5
Y1 - 2020/5
N2 - 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.
AB - 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.
KW - Bipeds
KW - safety guarantee
KW - underactuated system
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U2 - 10.1109/ICRA40945.2020.9197017
DO - 10.1109/ICRA40945.2020.9197017
M3 - Conference contribution
AN - SCOPUS:85092720599
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 10869
EP - 10875
BT - 2020 IEEE International Conference on Robotics and Automation, ICRA 2020
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2020 IEEE International Conference on Robotics and Automation, ICRA 2020
Y2 - 31 May 2020 through 31 August 2020
ER -