Reduction-based control of branched chains: Application to three-dimensional bipedal torso robots

This paper revisits the concept of controlled reduction, a symmetry-based method of decomposing the control of mechanical systems into lower-dimensional problems. Founded on a geometric property of serial kinematic chains termed recursive cyclicity, the present work extends this property to branched...

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Hauptverfasser:	Gregg, R.D., Spong, M.W.
Format:	Tagungsbericht
Sprache:	eng
Schlagworte:	Control systems Hip Kinematics Limit-cycles Mechanical systems Orbital robotics Robots Torso Tree data structures Turning
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creator	Gregg, R.D. Spong, M.W.
description	This paper revisits the concept of controlled reduction, a symmetry-based method of decomposing the control of mechanical systems into lower-dimensional problems. Founded on a geometric property of serial kinematic chains termed recursive cyclicity, the present work extends this property to branched chains by defining the minimal irreducible tree structure. We then generalize the subrobot theorem to branched chains, showing that we can use control to reduce any robot's dimensionality to that of its irreducible tree structure. This method is applied to a 5-DOF bipedal robot with a hip and torso - we construct stable straight-ahead and turning gaits in 3-D space based on known sagittal-plane limit cycles.
doi_str_mv	10.1109/CDC.2009.5399591
format	Conference Proceeding
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This method is applied to a 5-DOF bipedal robot with a hip and torso - we construct stable straight-ahead and turning gaits in 3-D space based on known sagittal-plane limit cycles.</description><subject>Control systems</subject><subject>Hip</subject><subject>Kinematics</subject><subject>Limit-cycles</subject><subject>Mechanical systems</subject><subject>Orbital robotics</subject><subject>Robots</subject><subject>Torso</subject><subject>Tree data structures</subject><subject>Turning</subject><issn>0191-2216</issn><isbn>9781424438716</isbn><isbn>1424438713</isbn><isbn>9781424438723</isbn><isbn>1424438721</isbn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>2009</creationdate><recordtype>conference_proceeding</recordtype><sourceid>6IE</sourceid><sourceid>RIE</sourceid><recordid>eNpVkE1LAzEYhCNasNbeBS_5A1vzJrvJxltZP6EgiJ5LPtnIdrMk8eC_d4u9eJqZh2EOg9ANkA0AkXfdQ7ehhMhNw6RsJJyhtRQt1LSuWSsoO_-XgV-gJQEJFaXAF2gpZMVrIjlcoqucvwghLeF8idS7s9-mhDhWWmVnsYljSXHA0WOd1Gj6I-tVGPM93k7TEIw6tnGJuPTJucqGgxvzjNSAdZicnbXElCNOUceSr9HCqyG79UlX6PPp8aN7qXZvz6_ddlcFEE2pQBgrrGRMOa5rz3QzY8_b2XGqGudrTr3S3mrTKGIkF0oQAWC1pQa8ZCt0-7cbnHP7KYWDSj_701vsF8iuW3s</recordid><startdate>200912</startdate><enddate>200912</enddate><creator>Gregg, R.D.</creator><creator>Spong, M.W.</creator><general>IEEE</general><scope>6IE</scope><scope>6IH</scope><scope>CBEJK</scope><scope>RIE</scope><scope>RIO</scope></search><sort><creationdate>200912</creationdate><title>Reduction-based control of branched chains: Application to three-dimensional bipedal torso robots</title><author>Gregg, R.D. ; Spong, M.W.</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-i175t-17cd7d933ae6b4f3b5175f68f3b62a5ef462fabfdbc5a0c967a70711dbd2c1f93</frbrgroupid><rsrctype>conference_proceedings</rsrctype><prefilter>conference_proceedings</prefilter><language>eng</language><creationdate>2009</creationdate><topic>Control systems</topic><topic>Hip</topic><topic>Kinematics</topic><topic>Limit-cycles</topic><topic>Mechanical systems</topic><topic>Orbital robotics</topic><topic>Robots</topic><topic>Torso</topic><topic>Tree data structures</topic><topic>Turning</topic><toplevel>online_resources</toplevel><creatorcontrib>Gregg, R.D.</creatorcontrib><creatorcontrib>Spong, M.W.</creatorcontrib><collection>IEEE Electronic Library (IEL) Conference Proceedings</collection><collection>IEEE Proceedings Order Plan (POP) 1998-present by volume</collection><collection>IEEE Xplore All Conference Proceedings</collection><collection>IEEE Electronic Library (IEL)</collection><collection>IEEE Proceedings Order Plans (POP) 1998-present</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Gregg, R.D.</au><au>Spong, M.W.</au><format>book</format><genre>proceeding</genre><ristype>CONF</ristype><atitle>Reduction-based control of branched chains: Application to three-dimensional bipedal torso robots</atitle><btitle>Proceedings of the 48h IEEE Conference on Decision and Control (CDC) held jointly with 2009 28th Chinese Control Conference</btitle><stitle>CDC</stitle><date>2009-12</date><risdate>2009</risdate><spage>8166</spage><epage>8173</epage><pages>8166-8173</pages><issn>0191-2216</issn><isbn>9781424438716</isbn><isbn>1424438713</isbn><eisbn>9781424438723</eisbn><eisbn>1424438721</eisbn><abstract>This paper revisits the concept of controlled reduction, a symmetry-based method of decomposing the control of mechanical systems into lower-dimensional problems. Founded on a geometric property of serial kinematic chains termed recursive cyclicity, the present work extends this property to branched chains by defining the minimal irreducible tree structure. We then generalize the subrobot theorem to branched chains, showing that we can use control to reduce any robot's dimensionality to that of its irreducible tree structure. This method is applied to a 5-DOF bipedal robot with a hip and torso - we construct stable straight-ahead and turning gaits in 3-D space based on known sagittal-plane limit cycles.</abstract><pub>IEEE</pub><doi>10.1109/CDC.2009.5399591</doi><tpages>8</tpages></addata></record>
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source	IEEE Electronic Library (IEL) Conference Proceedings
subjects	Control systems Hip Kinematics Limit-cycles Mechanical systems Orbital robotics Robots Torso Tree data structures Turning
title	Reduction-based control of branched chains: Application to three-dimensional bipedal torso robots
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