Highly Agile and Robust Robotic Bipedal Locomotion Through Nonlinear Geometric Control

Abstract

Dynamic models for bipedal robots contain both continuous and discrete elements, with switching events that are spatially driven by unilateral constraints at ground contact and impulse-like forces that occur at foot touchdown. The complexity of the models has led to a host of ad hoc trial-and-error feedback designs. This presentation will show how nonlinear feedback control methods are providing model-based solutions that also enhance the ability of bipedal robots to walk, run, and recover from stumbles. The talk addresses both theoretical and experimental aspects of bipedal locomotion. Videos of the some of the experiments have been covered in the popular press, bringing feedback control to the attention of the general public.