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	United Kingdom
City	Birmingham
Period	15/11/17 → 17/11/17
Internet address	http://humanoids2017.loria.fr/

Access to Document

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

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

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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",

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

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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; Vijayakumar, Sethu ; Li, Zhibin.

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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