Trajectory Optimization and Machine Learning to Design Feedback Controllers for Bipedal Robots with Provable Stability

This thesis combines recent advances in trajectory optimization of hybrid dynamical systems with machine learning and geometric control theory to achieve unprecedented performance in bipedal robot locomotion. The work greatly expands the class of robot models for which feedback controllers can be designed with provable stability. The methods are widely applicable beyond bipedal robots, including exoskeletons, and prostheses, and eventually, drones, ADAS, and other highly automated machines. One main idea of this thesis is to greatly expand the use of multiple trajectories in the design of a stabilizing controller. The computation of many trajectories is now feasible due to new optimization tools. The computations are not fast enough to apply in the real-time, however, so they are not feasible for model predictive control (MPC). The offline “library” approach will encounter the curse of dimensionality for the high-dimensional models common in bipedal robots. To overcome these obstructions, we embed a stable walking motion in an attractive low-dimensional surface of the system's state space. The periodic orbit is now an attractor of the low-dimensional state-variable model but is not attractive in the full-order system. We then use the special structure of mechanical models associated with bipedal robots to embed the low-dimensional model in the original model in such a manner that the desired walking motions are locally exponentially stable. The ultimate solution in this thesis will generate model-based feedback controllers for bipedal robots, in such a way that the closed-loop system has a large stability basin, exhibits highly agile, dynamic behavior, and can deal with significant perturbations coming from the environment. In the case of bipeds: “model-based” means that the controller will be designed on the basis of the full floating-base dynamic model of the robot, and not a simplified model, such as the LIP (Linear Inverted Pendulum). By “agile and dynamic” is meant that the robot moves at the speed of a normal human or faster while walking off a curb. By “significant perturbation” is meant a human tripping, and while falling, throwing his/her full weight into the back of the robot.PHDMechanical EngineeringUniversity of Michigan, Horace H. Rackham School of Graduate Studieshttps://deepblue.lib.umich.edu/bitstream/2027.42/145992/1/xda_1.pd

Cuts through the manifold of molecular H2O potential energy surfaces in liquid water at ambient conditions

The fluctuating hydrogen bridge bonded network of liquid water at ambient conditions entails a varied ensemble of the underlying constituting H2O molecular moieties.This is mirrored in a manifold of the H2O molecular potentials. Subnatural line width resonant inelastic X-ray scattering allowed us to quantify the manifold of molecular potential energy surfaces along the H2O symmetric normal mode and the local asymmetric O–H bond coordinate up to 1 and 1.5 A, respectively. The comparison of the single ˚ H2O molecular potentials and spectroscopic signatures with the ambient conditions liquid phase H2O molecular potentials is done on various levels. In the gas phase, first principles, Morse potentials, and stepwise harmonic potential reconstruction have been employed and benchmarked. In the liquid phase the determination of the potential energy manifold along the local asymmetric O–H bond coordinate from resonant inelastic X-ray scattering via the bound state oxygen 1s to 4a1 resonance is treated within these frameworks. The potential energy surface manifold along the symmetric stretch from resonant inelastic X-ray scattering via the oxygen 1s to 2b2 resonance is based on stepwise harmonic reconstruction. We find in liquid water at ambient conditions H2O molecular potentials ranging from the weak interaction limit to strongly distorted potentials which are put into perspective to established parameters, i.e., intermolecular O–H, H–H, and O–O correlation lengths from neutron scattering.</p

Compatibility of quantitative X-ray spectroscopy with continuous distribution models of water at ambient conditions

The phase diagram of water harbors controversial views on underlying structural properties of its constituting molecular moieties, its fluctuating hydrogen-bonding network, as well as pair-correlation functions. In this work, long energy-range detection of the X-ray absorption allows us to unambiguously calibrate the spectra for water gas, liquid, and ice by the experimental atomic ionization cross-section. In liquid water, we extract the mean value of 1.74 +/- 2.1% donated and accepted hydrogen bonds per molecule, pointing to a continuous-distribution model. In addition, resonant inelastic X-ray scattering with unprecedented energy resolution also supports continuous distribution of molecular neighborhoods within liquid water, as do X-ray emission spectra once the femtosecond scattering duration and proton dynamics in resonant X-ray-matter interaction are taken into account. Thus, X-ray spectra of liquid water in ambient conditions can be understood without a two-structure model, whereas the occurrence of nanoscale-length correlations within the continuous distribution remains open

A Robot with a Suspended Load: The Statistical Relationship Between Energy Cost and Mass Center Motion

In this research, the objective is to reduce energy (or power) consumption for a legged robot and demonstrate a correlation between energy (or power) consumption and center of mass (CoM) motion. The approach used is to experimentally measure and analyze the power consumption and center of mass motion of a legged robot carrying an elastically suspended load. A high-speed motion-tracking camera system was used to capture the robot body and load trajectories, and an analog-to-digital converter was used to record the robot’s average power. By analyzing the frequency content of the trajectories, we found that the center of mass dynamics exhibited multiple frequency components. Each frequency had a unique phase and amplitude that contributed to the average power. A multivariable fitting method was used to quantitatively define the contribution weight of each frequency on the overall center of mass dynamics. We found that the center of mass dynamics may be loosely correlated with the power consumption of locomotion and that multiple modes of motion complicate this relationship

Compatibility of quantitative X-ray spectroscopy with continuous distribution models of water at ambient conditions

The phase diagram of water harbors controversial views on underlying structural properties of its constituting molecular moieties, its fluctuating hydrogen-bonding network, as well as pair-correlation functions. In this work, long energy-range detection of the X-ray absorption allows us to unambiguously calibrate the spectra for water gas, liquid, and ice by the experimental atomic ionization cross-section. In liquid water, we extract the mean value of 1.74 ± 2.1% donated and accepted hydrogen bonds per molecule, pointing to a continuous-distribution model. In addition, resonant inelastic X-ray scattering with unprecedented energy resolution also supports continuous distribution of molecular neighborhoods within liquid water, as do X-ray emission spectra once the femtosecond scattering duration and proton dynamics in resonant X-ray–matter interaction are taken into account. Thus, X-ray spectra of liquid water in ambient conditions can be understood without a two-structure model, whereas the occurrence of nanoscale-length correlations within the continuous distribution remains open

Probing hydrogen bond strength in liquid water by resonant inelastic X-ray scattering

Local probes of the electronic ground state are essential for understanding hydrogen bonding in aqueous environments. When tuned to the dissociative core-excited state at the O1s preedge of water, resonant inelastic X-ray scattering back to the electronic ground state exhibits a long vibrational progression due to ultrafast nuclear dynamics. We show how the coherent evolution of the OH bonds around the core-excited oxygen provides access to high vibrational levels in liquid water. The OH bonds stretch into the long-range part of the potential energy curve, which makes the X-ray probe more sensitive than infra-red spectroscopy to the local environment. We exploit this property to effectively probe hydrogen bond strength via the distribution of intramolecular OH potentials derived from measurements. In contrast, the dynamical splitting in the spectral feature of the lowest valence-excited state arises from the short-range part of the OH potential curve and is rather insensitive to hydrogen bonding