Chenggang Liu

Biped Walking Control

Carnegie Mellon University, 2008-2010

Description

Developed biped walking controllers using trajectory-based dynamic programming and optimal trajectory libraries. The approach generates robust walking gaits that can handle impulsive disturbances, traverse rough terrain, and climb steep inclines—all using a single offline-generated trajectory library for level-ground walking, without online re-planning.

Publications

  • Biped walking control using a trajectory library. Chenggang Liu, Christopher G. Atkeson, and Jianbo Su. Robotica, Volume 31 Issue 2, March 2013, Pages 311-322
  • Neighboring optimal control for periodic tasks for systems with discontinuous dynamics. Chenggang Liu, Christopher G. Atkeson, and Jianbo Su. SCIENCE CHINA Information Sciences, 2011, 54(3): 653-663
  • Biped walking control using offline and online optimization. Chenggang Liu and Jianbo Su. China Control Conference (CCC), 2011

Demos

Biped walking control using an optimal trajectory library

Handling a 36 Ns impulse during walking using an optimal trajectory library.

Walking on rough terrain using an offline generated trajectory library.

Walking on a 36-degree incline using a level-ground trajectory library.