Hybrid Nonlinear Disturbance Observer Design for Underactuated Bipedal Robots

Alireza Mohammadi; Seyed Fakoorian; Jonathan C. Horn; Daniel Simon; Robert D. Gregg

doi:10.1109/CDC.2018.8618650

Hybrid Nonlinear Disturbance Observer Design for Underactuated Bipedal Robots

Alireza Mohammadi
, Seyed Fakoorian
, Jonathan C. Horn
, Daniel Simon
, Robert D. Gregg

Electrical and Computer Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

6 Scopus citations

Abstract

Existence of disturbances in unknown environments is a pervasive challenge in robotic locomotion control. Disturbance observers are a class of unknown input observers that have been extensively used for disturbance rejection in numerous robotics applications. In this paper, we extend a class of widely-used nonlinear disturbance observers to unde-ractuated bipedal robots, which are controlled using hybrid zero dynamics-based control schemes. The proposed hybrid nonlinear disturbance observer provides the autonomous biped robot control system with disturbance rejection capabilities, while the underlying hybrid zero-dynamics based control law remains intact.

Original language	English
Title of host publication	Proceedings of the IEEE Conference on Decision and Control
Place of Publication	usa
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1217-1224
Number of pages	8
Volume	2018-December
ISBN (Electronic)	9781538613955
DOIs	https://doi.org/10.1109/CDC.2018.8618650
State	Published - Jul 2 2018
Event	57th IEEE Conference on Decision and Control, CDC 2018 - Miami, United States Duration: Dec 17 2018 → Dec 19 2018

Conference

Conference	57th IEEE Conference on Decision and Control, CDC 2018
Country/Territory	United States
Period	12/17/18 → 12/19/18

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10.1109/CDC.2018.8618650

Cite this

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title = "Hybrid Nonlinear Disturbance Observer Design for Underactuated Bipedal Robots",

abstract = "Existence of disturbances in unknown environments is a pervasive challenge in robotic locomotion control. Disturbance observers are a class of unknown input observers that have been extensively used for disturbance rejection in numerous robotics applications. In this paper, we extend a class of widely-used nonlinear disturbance observers to unde-ractuated bipedal robots, which are controlled using hybrid zero dynamics-based control schemes. The proposed hybrid nonlinear disturbance observer provides the autonomous biped robot control system with disturbance rejection capabilities, while the underlying hybrid zero-dynamics based control law remains intact.",

author = "Alireza Mohammadi and Seyed Fakoorian and Horn, \{Jonathan C.\} and Daniel Simon and Gregg, \{Robert D.\}",

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note = "57th IEEE Conference on Decision and Control, CDC 2018 ; Conference date: 17-12-2018 Through 19-12-2018",

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Mohammadi, A, Fakoorian, S, Horn, JC, Simon, D & Gregg, RD 2018, Hybrid Nonlinear Disturbance Observer Design for Underactuated Bipedal Robots. in Proceedings of the IEEE Conference on Decision and Control. vol. 2018-December, 8618650, Institute of Electrical and Electronics Engineers Inc., usa, pp. 1217-1224, 57th IEEE Conference on Decision and Control, CDC 2018, United States, 12/17/18. https://doi.org/10.1109/CDC.2018.8618650

Hybrid Nonlinear Disturbance Observer Design for Underactuated Bipedal Robots. / Mohammadi, Alireza; Fakoorian, Seyed; Horn, Jonathan C. et al.
Proceedings of the IEEE Conference on Decision and Control. Vol. 2018-December usa: Institute of Electrical and Electronics Engineers Inc., 2018. p. 1217-1224 8618650.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Horn, Jonathan C.

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AU - Gregg, Robert D.

PY - 2018/7/2

Y1 - 2018/7/2

N2 - Existence of disturbances in unknown environments is a pervasive challenge in robotic locomotion control. Disturbance observers are a class of unknown input observers that have been extensively used for disturbance rejection in numerous robotics applications. In this paper, we extend a class of widely-used nonlinear disturbance observers to unde-ractuated bipedal robots, which are controlled using hybrid zero dynamics-based control schemes. The proposed hybrid nonlinear disturbance observer provides the autonomous biped robot control system with disturbance rejection capabilities, while the underlying hybrid zero-dynamics based control law remains intact.

AB - Existence of disturbances in unknown environments is a pervasive challenge in robotic locomotion control. Disturbance observers are a class of unknown input observers that have been extensively used for disturbance rejection in numerous robotics applications. In this paper, we extend a class of widely-used nonlinear disturbance observers to unde-ractuated bipedal robots, which are controlled using hybrid zero dynamics-based control schemes. The proposed hybrid nonlinear disturbance observer provides the autonomous biped robot control system with disturbance rejection capabilities, while the underlying hybrid zero-dynamics based control law remains intact.

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T2 - 57th IEEE Conference on Decision and Control, CDC 2018

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Hybrid Nonlinear Disturbance Observer Design for Underactuated Bipedal Robots

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