Robust Foot Placement Control for Dynamic Walking using Online Parameter Estimation

Qingbiao Li; Iordanis Chatzinikolaidis; Yiming Yang; Sethu Vijayakumar; Zhibin Li

doi:http://ieeexplore.ieee.org/document/8239552/

Robust Foot Placement Control for Dynamic Walking using Online Parameter Estimation

Qingbiao Li, Iordanis Chatzinikolaidis, Yiming Yang, Sethu Vijayakumar, Zhibin Li

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

This paper presents an estimation scheme to control foot placement for achieving desired velocity of dynamic walking in presence of sensor and model errors. Inevitable discrepancies, such as sensors noises/delays and modeling errors, degrade the performance of model-based controls or even cause instabilities. To resolve these issues, an online parameter estimation approach is formulated using Tikhonov optimization based on measurements, which is particularly robust for approximating more accurate dynamics. The proposed scheme initially uses the foot placement predicted by the linear inverted pendulum model, while the control parameters are being optimized from adequate measurements that represent the real dynamics within and in-between steps; and then, the estimation based control is fully used to accurately predict the future foot placement in the presence of discrepancies.

Original language	English
Title of host publication	2017 IEEE-RAS International Conference on Humanoid Robots
Place of Publication	978-1-5386-4679-3
Publisher	Institute of Electrical and Electronics Engineers (IEEE)
Pages	165-170
Number of pages	7
ISBN (Electronic)	978-1-5386-4678-6
DOIs	https://doi.org/http://ieeexplore.ieee.org/document/8239552/
Publication status	Published - 8 Jan 2018
Event	IEEE-RAS International Conference on Humanoid Robots - The Birmingham Repertory Theatre, Centenary Square, Broad Street, Birmingham, United Kingdom Duration: 15 Nov 2017 → 17 Nov 2017 http://humanoids2017.loria.fr/

Publication series

Name
Publisher	IEEE
ISSN (Electronic)	2164-0580

Conference

Conference	IEEE-RAS International Conference on Humanoid Robots
Country/Territory	United Kingdom
City	Birmingham
Period	15/11/17 → 17/11/17
Internet address	http://humanoids2017.loria.fr/

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Humanoid2017Accepted author manuscript, 3.9 MB

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Cite this

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title = "Robust Foot Placement Control for Dynamic Walking using Online Parameter Estimation",

abstract = "This paper presents an estimation scheme to control foot placement for achieving desired velocity of dynamic walking in presence of sensor and model errors. Inevitable discrepancies, such as sensors noises/delays and modeling errors, degrade the performance of model-based controls or even cause instabilities. To resolve these issues, an online parameter estimation approach is formulated using Tikhonov optimization based on measurements, which is particularly robust for approximating more accurate dynamics. The proposed scheme initially uses the foot placement predicted by the linear inverted pendulum model, while the control parameters are being optimized from adequate measurements that represent the real dynamics within and in-between steps; and then, the estimation based control is fully used to accurately predict the future foot placement in the presence of discrepancies.",

author = "Qingbiao Li and Iordanis Chatzinikolaidis and Yiming Yang and Sethu Vijayakumar and Zhibin Li",

year = "2018",

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doi = "http://ieeexplore.ieee.org/document/8239552/",

language = "English",

publisher = "Institute of Electrical and Electronics Engineers (IEEE)",

pages = "165--170",

booktitle = "2017 IEEE-RAS International Conference on Humanoid Robots",

address = "United States",

note = "IEEE-RAS International Conference on Humanoid Robots ; Conference date: 15-11-2017 Through 17-11-2017",

url = "http://humanoids2017.loria.fr/",

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Li, Q, Chatzinikolaidis, I, Yang, Y, Vijayakumar, S & Li, Z 2018, Robust Foot Placement Control for Dynamic Walking using Online Parameter Estimation. in 2017 IEEE-RAS International Conference on Humanoid Robots. Institute of Electrical and Electronics Engineers (IEEE), 978-1-5386-4679-3, pp. 165-170, IEEE-RAS International Conference on Humanoid Robots, Birmingham, United Kingdom, 15/11/17. https://doi.org/http://ieeexplore.ieee.org/document/8239552/

Robust Foot Placement Control for Dynamic Walking using Online Parameter Estimation. / Li, Qingbiao; Chatzinikolaidis, Iordanis; Yang, Yiming et al.

2017 IEEE-RAS International Conference on Humanoid Robots. 978-1-5386-4679-3 : Institute of Electrical and Electronics Engineers (IEEE), 2018. p. 165-170.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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T1 - Robust Foot Placement Control for Dynamic Walking using Online Parameter Estimation

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AU - Chatzinikolaidis, Iordanis

AU - Yang, Yiming

AU - Vijayakumar, Sethu

AU - Li, Zhibin

PY - 2018/1/8

Y1 - 2018/1/8

N2 - This paper presents an estimation scheme to control foot placement for achieving desired velocity of dynamic walking in presence of sensor and model errors. Inevitable discrepancies, such as sensors noises/delays and modeling errors, degrade the performance of model-based controls or even cause instabilities. To resolve these issues, an online parameter estimation approach is formulated using Tikhonov optimization based on measurements, which is particularly robust for approximating more accurate dynamics. The proposed scheme initially uses the foot placement predicted by the linear inverted pendulum model, while the control parameters are being optimized from adequate measurements that represent the real dynamics within and in-between steps; and then, the estimation based control is fully used to accurately predict the future foot placement in the presence of discrepancies.

AB - This paper presents an estimation scheme to control foot placement for achieving desired velocity of dynamic walking in presence of sensor and model errors. Inevitable discrepancies, such as sensors noises/delays and modeling errors, degrade the performance of model-based controls or even cause instabilities. To resolve these issues, an online parameter estimation approach is formulated using Tikhonov optimization based on measurements, which is particularly robust for approximating more accurate dynamics. The proposed scheme initially uses the foot placement predicted by the linear inverted pendulum model, while the control parameters are being optimized from adequate measurements that represent the real dynamics within and in-between steps; and then, the estimation based control is fully used to accurately predict the future foot placement in the presence of discrepancies.

U2 - http://ieeexplore.ieee.org/document/8239552/

DO - http://ieeexplore.ieee.org/document/8239552/

M3 - Conference contribution

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BT - 2017 IEEE-RAS International Conference on Humanoid Robots

PB - Institute of Electrical and Electronics Engineers (IEEE)

CY - 978-1-5386-4679-3

T2 - IEEE-RAS International Conference on Humanoid Robots

Y2 - 15 November 2017 through 17 November 2017

ER -

Robust Foot Placement Control for Dynamic Walking using Online Parameter Estimation

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