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  4. Time-Projection control on 3LP, a simple idea to deal with intermittent pushes online
 
conference poster not in proceedings

Time-Projection control on 3LP, a simple idea to deal with intermittent pushes online

Faraji, Salman  
•
Ijspeert, Auke  
2016
Dynamic Walking

In this article, we propose a new controller for recovering intermittent pushes during bipedal locomotion. We use 3LP as a template model which can provide closed-form solutions for state evolution. The idea behind our controller is to project the perturbed state of current time-step back to the beginning of the hybrid phase, use the expertise of a discrete controller and then apply the resulting optimal policy to the system at the current time-step. Linear properties of 3LP makes such calculation very fast and effective. By optimizing a certain cost function, we find the most robust and generic projecting configuration which outperforms the discrete controller itself.

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Type
conference poster not in proceedings
Author(s)
Faraji, Salman  
Ijspeert, Auke  
Date Issued

2016

Written at

EPFL

EPFL units
BIOROB  
Event nameEvent placeEvent date
Dynamic Walking

Holly, Michigan, USA

June 4-7, 2016

Available on Infoscience
April 13, 2016
Use this identifier to reference this record
https://infoscience.epfl.ch/handle/20.500.14299/125672
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