Human-inspired control of bipedal robots via control lyapunov functions and quadratic programs

摘要

This paper briefly presents the process of formally achieving bipedal robotic walking through controller synthesis inspired by human locomotion. Motivated by the hierarchical control present in humans, we begin by viewing the human as a "black box" and describe outputs, or virtual constraints, that appear to characterize human walking. By considering the equivalent outputs for the bipedal robot, a nonlinear controller can be constructed that drives the outputs of the robot to the outputs of the human; moreover, the parameters of this controller can be optimized so that stable robotic walking is provably achieved while simultaneously producing outputs of the robot that are as close as possible to those of a human. Finally, considering a control Lyapunov function based representation of these outputs allows for the class of controllers that provably achieve stable robotic walking can be greatly enlarged. The end result is the generation of bipedal robotic walking that is remarkably human-like and is experimentally realizable, as evidenced by the implementation of the resulting controllers on multiple robotic platforms.