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2017 | OriginalPaper | Chapter

Hybrid System Identification via Switched System Optimal Control for Bipedal Robotic Walking

Author : Ram Vasudevan

Published in: Robotics Research

Publisher: Springer International Publishing

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Abstract

While the goal of robotic bipedal walking to date has been the development of anthropomorphic gait, the community as a whole has been unable to agree upon an appropriate model to generate such gait. In this paper, we describe a method to segment human walking data in order to generate a robotic model capable of human-like walking. Generating the model requires the determination of the sequence of contact point enforcements which requires solving a combinatorial scheduling problem. We resolve this problem by transforming the detection of contact point enforcements into a constrained switched system optimal control problem for which we develop a provably convergent algorithm. We conclude the paper by illustrating the performance of the algorithm on identifying a model for robotic bipedal walking.

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previous chapter Autonomous Navigation of a Humanoid Robot Over Unknown Rough Terrain
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Metadata
Title
Hybrid System Identification via Switched System Optimal Control for Bipedal Robotic Walking
Author
Ram Vasudevan
Copyright Year
2017
Book
Robotics Research

Print ISBN: 978-3-319-29362-2

Electronic ISBN: 978-3-319-29363-9

Copyright Year: 2017

DOI
https://doi.org/10.1007/978-3-319-29363-9_36