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dc.contributor.authorChao, Kenneth Y.en_US
dc.contributor.authorPowell, Matthew J.en_US
dc.contributor.authorAmes, Aaron D.en_US
dc.contributor.authorHur, Pilwonen_US
dc.date.accessioned2016-08-22T17:26:42Z
dc.date.available2016-08-22T17:26:42Z
dc.date.issued2016-07
dc.identifier.citationChao, K. Y., Powell, M. J., Ames, A. D., & Hur, P. (2016). Unification of Locomotion Pattern Generation and Control Lyapunov Function-based Quadratic Programs. 2016 American Control Conference (ACC), Boston, MA, 2016, pp. 3910-3915.en_US
dc.identifier.isbn978-1-4673-8680-7
dc.identifier.urihttp://hdl.handle.net/1853/55695
dc.description© 2016 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works.en_US
dc.descriptionDOI: 10.1109/ACC.2016.7525523en_US
dc.description.abstractThis paper presents a novel method of combining real-time walking pattern generation and constrained nonlinear control to achieve robotic walking under Zero-Moment Point (ZMP) and torque constraints. The proposed method leverages the fact that existing solutions to both walking pattern generation and constrained nonlinear control have been independently constructed as Quadratic Programs (QPs) and that these constructions can be related through an equality constraint on the instantaneous acceleration of the center of mass. Speci cally, the proposed method solves a single Quadratic Program which incorporates elements from Model Predictive Control (MPC) based center of mass planning methods and from rapidly exponentially stabilizing control Lyapunov function (RES-CLF) methods. The resulting QP-based controller simultaneously solves for a COM trajectory that satis es ZMP constraints over a future horizon while also producing joint torques consistent with instantaneous acceleration, torque, ZMP and RES-CLF constraints. The method is developed for simulation and experimental study on a seven-link, planar robot.en_US
dc.language.isoen_USen_US
dc.publisherGeorgia Institute of Technologyen_US
dc.subjectLyapunov methodsen_US
dc.subjectPredictive control for nonlinear systemsen_US
dc.subjectRoboticsen_US
dc.titleUnification of Locomotion Pattern Generation and Control Lyapunov Function-Based Quadratic Programsen_US
dc.typeProceedingsen_US
dc.contributor.corporatenameGeorgia Institute of Technology. Institute for Robotics and Intelligent Machinesen_US
dc.contributor.corporatenameGeorgia Institute of Technology. School of Mechanical Engineeringen_US
dc.contributor.corporatenameTexas A & M University. Department of Mechanical Engineeringen_US
dc.publisher.originalInstitute of Electrical and Electronics Engineers
dc.identifier.doi10.1109/ACC.2016.7525523en_US


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