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Proceedings Paper

Metastable legged locomotion: methods to quantify and optimize reliability
Author(s): Cenk Oguz Saglam; Katie Byl
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Paper Abstract

Measuring the stability of highly-dynamic bipedal locomotion is a challenging but essential task for more capable human-like walking. By discretizing the walking dynamics, we treat the system as a Markov chain, which lends itself to an easy quantification of failure rates by the expected number of steps before falling. This meaningful and intuitive metric is then used for optimizing and benchmarking given controllers. While this method is applicable to any controller scheme, we illustrate the results with two case demonstrations. One scheme is the now-familiar hybrid zero dynamics approach and the other is a method using piece-wise reference trajectories with a sliding mode control. We optimize low-level controllers, to minimize failure rates for any one gait, and we adopt a hierarchical control structure to switch among low-level gaits, providing even more dramatic improvements on the system performance.

Paper Details

Date Published: 22 May 2015
PDF: 7 pages
Proc. SPIE 9467, Micro- and Nanotechnology Sensors, Systems, and Applications VII, 94671T (22 May 2015); doi: 10.1117/12.2177102
Show Author Affiliations
Cenk Oguz Saglam, Univ. of California, Santa Barbara (United States)
Katie Byl, Univ. of California, Santa Barbara (United States)

Published in SPIE Proceedings Vol. 9467:
Micro- and Nanotechnology Sensors, Systems, and Applications VII
Thomas George; Achyut K. Dutta; M. Saif Islam, Editor(s)

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