Lyapunov-based Approach to Reactive Step Generation for Push Recovery of Biped Robots via Hybrid Tracking Control of DCM
- Lyapunov-based Approach to Reactive Step Generation for Push Recovery of Biped Robots via Hybrid Tracking Control of DCM
- 오용환; 박경훈; 조준희; 김정훈
- Biped robot; Balance recovery; DCM; Lyapunov-based Approach
- Issue Date
- IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2020
- This paper addresses reactive generation of step time and location of biped robots for balance recovery against a severe push. Key idea is to reformulate the balance recovery problem into a tracking problem for “hybrid” inverted pendulum model of the biped, where taking a new step implicitly yields a discrete jump of the tracking error. This interpretation offers a Lyapunov-based approach to reactive step generation, which is possibly more intuitive and easier to analyze than large-scaled or nonlinear optimization-based approaches. With the continuous error dynamics for the divergent component of
motion (DCM), our strategy for step generation is to decrease the “post-step” Lyapunov level for DCM error at each walking cycle, until it eventually becomes smaller than a threshold so that no more footstep needs to be adjusted. We show that implementation of this idea while obeying physical constraints can be done by employing a hybrid tracking controller (together with a reference model) as our reactive step generator, consisting of a simple DCM-based continuous controller and a small-sized quadratic programming-based discrete controller. The validity of the proposed scheme is verified by simulation results.
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