Slowly uploading the implementations on the S2S Dynamics based framework for controlling bipedal robotic walking.
- a H-LIP class
- walking outputs using H-LIP approximation
- a QP based tracking controller
TODO: A full repo of using it to control Cassie in Mujoco will be uploaded soon.
Matlab folder mainly contains a LIPapprox class (still un-organzied yet since it was research code) with controllers
- Deadbeat, LQR, CLF, etc
- MPC, SLS
- Adaptive Controller
TODO: I will try to organize it in a better way. These linear controllers are relatively straight forward, only some of which have been appeared in previous publications.
Most walking videos can be seen from the youtube channel.
Results of the S2S based framework:
- 3D Periodic Walking: Simulation, Experiment
- Unstable Terrain
- Versatile Walking
- Rough Terrain: aSLIP, Cassie
- Push Rejection: Sagittal, Coronal
- Global Path Tracking
Xiaobin Xiong, and Aaron Ames.
3D underactuated bipedal walking via h-lip based gait synthesis and stepping stabilization.
arXiv preprint arXiv:2101.09588, IEEE Transactions on Robotics (T-RO), 2022.
Xiong, Xiaobin
Reduced Order Model Inspired Robotic Bipedal Walking: A Step-to-step Dynamics Approximation based Approach
PHD Thesis, California Institute of Technology