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Spring-Mass Walking With ATRIAS in 3D: Robust Gait Control Spanning Zero to 4.3 KPH on a Heavily Underactuated Bipedal Robot

[+] Author Affiliations
Siavash Rezazadeh, Christian Hubicki, Mikhail Jones, Andrew Peekema, Johnathan Van Why, Andy Abate, Jonathan Hurst

Oregon State University, Corvallis, OR

Paper No. DSCC2015-9899, pp. V001T04A003; 10 pages
  • ASME 2015 Dynamic Systems and Control Conference
  • Volume 1: Adaptive and Intelligent Systems Control; Advances in Control Design Methods; Advances in Non-Linear and Optimal Control; Advances in Robotics; Advances in Wind Energy Systems; Aerospace Applications; Aerospace Power Optimization; Assistive Robotics; Automotive 2: Hybrid Electric Vehicles; Automotive 3: Internal Combustion Engines; Automotive Engine Control; Battery Management; Bio Engineering Applications; Biomed and Neural Systems; Connected Vehicles; Control of Robotic Systems
  • Columbus, Ohio, USA, October 28–30, 2015
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-5724-3
  • Copyright © 2015 by ASME


We present a reduced-order approach for dynamic and efficient bipedal control, culminating in 3D balancing and walking with ATRIAS, a heavily underactuated bipedal robot. These results are a development toward solving a number of enduring challenges in bipedal locomotion: achieving robust 3D gaits at various speeds and transitioning between them, all while minimally draining on-board energy supplies. Our reduced-order control methodology works by extracting and exploiting general dynamical behaviors from the spring-mass model of bipedal walking. When implemented on a robot with spring-mass passive dynamics, e.g. ATRIAS, this controller is sufficiently robust to balance while subjected to pushes, kicks, and successive dodge-ball strikes. The controller further allowed smooth transitions between stepping in place and walking at a variety of speeds (up to 1.2 m/s). The resulting gait dynamics also match qualitatively to the reduced-order model, and additionally, measurements of human walking. We argue that the presented locomotion performance is compelling evidence of the effectiveness of the presented approach; both the control concepts and the practice of building robots with passive dynamics to accommodate them.

Copyright © 2015 by ASME
Topics: Robots , Springs



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