Torque Saturation in Bipedal Robotic Walking through Control Lyapunov Function Based Quadratic Programs

• DOI: 10.48550/arxiv.1302.7314
• Publication Date: 2013-01-01
• Authors: Kevin S. Galloway; Koushil Sreenath; Aaron D. Ames; Jessy W. Grizzle
• Keywords: Biped robot; Control-Lyapunov function

This paper presents a novel method for directly incorporating user-defined control input saturations into the calculation of Lyapunov function (CLF)-based walking controller biped robot. Previous work by authors has demonstrated effectiveness CLF controllers stabilizing periodic gaits walkers, and current expands on those results providing more effective means handling saturations. The new approach, based convex optimization routine running at 1 kHz update rate, is useful not only torque but also whole family constraints online computation controller. concludes with an experimental implementation main bipedal robot MABEL.