Ayonga Hereid

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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(More)
—We present a software synthesis method for speed-controlled 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 discrete-time(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)
— This paper presents a method for achieving stable periodic walking, consisting of phases of single and double support, on underactuated walking robots by embedding Spring Loaded Inverted Pendulum (SLIP) dynamics. Beginning with a SLIP model, the dynamics are stabilized to a constant energy level and periodic walking gaits are found; an equality constraint(More)
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