Ayonga Hereid

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Hybrid zero dynamics (HZD) has emerged as a popular framework for dynamic and underactuated bipedal walking, but has significant implementation difficulties when applied to the high degrees of freedom present in humanoid robots. The primary impediment is the process of gait design-it is difficult for optimizers to converge on a viable set of virtual(More)
We present a software synthesis method for speedcontrolled robot walking based on supervisory control of a context-free Motion Grammar. First, we use Human-Inspired control to identify parameters for fixed speed walking and for transitions between fixed speeds, guaranteeing dynamic stability. Next, we build a Motion Grammar representing the discretetime(More)
This paper presents a methodology for achieving efficient multi-domain underactuated bipedal walking on compliant robots by formally emulating gaits produced by the Spring Loaded Inverted Pendulum (SLIP). With the goal of achieving locomotion that displays phases of double and single support, a hybrid system model is formulated that faithfully represents(More)
This paper employs the Human-Inspired Control framework in the formal design, optimization and implementation of controllers for 3D bipedal robotic walking. In this framework, controllers drive the robot to a low-dimensional representation, termed the partial hybrid zero dynamics, which is shaped by the parameters of the outputs describing human locomotion(More)
This paper presents the methodology used to achieve efficient and dynamic walking behaviors on the prototype humanoid robotics platform, DURUS. As a means of providing a hardware platform capable of these behaviors, the design of DURUS combines highly efficient electromechanical components with “control in the loop” design of the leg(More)
This paper presents a formal framework for achieving multi-contact bipedal robotic walking, and realizes this methodology experimentally on two robotic platforms: AMBER2 and ATRIAS. Inspired by the key feature encoded in human walking— multi-contact behavior—this approach begins with the analysis of human locomotion and uses it to motivate the construction(More)
Correct real-time software is vital for robots in safety-critical roles such as service and disaster response. These systems depend on software for locomotion, navigation, manipulation, and even seemingly innocuous tasks such as safely regulating battery voltage. A multiprocess software design increases robustness by isolating errors to a single process,(More)
Hybrid zero dynamics (HZD) has emerged as a popular framework for the stable control of bipedal robotic gaits, but typically designing a gait's virtual constraints is a slow and undependable optimization process. To expedite and boost the reliability of HZD gait generation, we borrow methods from trajectory optimization to formulate a smoother and more(More)
Implementing state-based parameterized periodic trajectories on complex robotic systems, e.g., humanoid robots, can lead to instability due to sensor noise exacerbated by dynamic movements. As a means of understanding this phenomenon, and motivated by field testing on the humanoid robot DURUS, this paper presents sufficient conditions for the boundedness of(More)
Dynamic humanoid locomotion is a challenging control problem, and running is especially difficult to achieve, given the underactuation inherent to aerial domains. Previous work developed a gait-generating optimization framework for dynamic locomotion in the context of hybrid zero dynamics, producing stable 3D walking on the humanoid hardware platform DURUS.(More)