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icra_2014_rev3.tex
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icra_2014_rev3.tex
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%2345678901234567890123456789012345678901234567890123456789012345678901234567890
% 1 2 3 4 5 6 7 8
\documentclass[letterpaper, 10 pt, conference]{ieeeconf} % Comment this line out
% if you need a4paper
%\documentclass[a4paper, 10pt, conference]{ieeeconf} % Use this line for a4
% paper
\IEEEoverridecommandlockouts % This command is only
% needed if you want to
% use the \thanks command
\overrideIEEEmargins
% See the \addtolength command later in the file to balance the column lengths
% on the last page of the document
\usepackage{graphicx,float}
\usepackage{caption}
\usepackage{subcaption}
\usepackage{subfig}
\usepackage{mathrsfs}
\usepackage{amsmath,amssymb}
\usepackage{mathtools}
\usepackage{icra_2014_initial}
\usepackage{url}
\usepackage{comment}
\newtheorem{mydefinition}{\bfseries Definition}%[section]
\newtheorem{mynote}{\bfseries Note}%[section]
\newtheorem{myproposition}{\bfseries Proposition}%[section]
\newtheorem{myexample}{\bfseries Example}%[section]
\newtheorem{myassumption}{\bfseries Assumption}%[section]
\newtheorem{mytheorem}{\bfseries Theorem}
\newtheorem{mymaintheorem}{\bfseries Main Theorem}
\newtheorem{mycorollary}{\bfseries Corollary}%[section]
\newtheorem{mylemma}{\bfseries Lemma}%[section]
\newtheorem{myproperty}{\bfseries Property}
\newtheorem{myremark}{\bfseries Remark}
\newtheorem{mynotation}{\bfseries Notation}
\title{\LARGE \bf
Planar Multi-Contact Bipedal Walking Using Hybrid Zero Dynamics and Quadratic Programs
}
\author{\authorone, \authortwo, and \authorthree% <-this % stops a space
\thanks{\authorone, \text{\authortwo} and \text{\authorthree} are with the Department of Mechanical Engineering, Texas A\&M University, College Station, TX 77843, e-mail:
{\tt\small \{jordanlack,mjpowell,aames\}@tamu.edu}}%
\thanks{This research is supported by NASA grant NNX11AN06H, NSF grants CNS-0953823 and CNS-1136104, and NHARP award 00512-0184-2009.}% <-this % stops a space
}
\begin{document}
\maketitle
\thispagestyle{empty}
\pagestyle{empty}
\begin{abstract}
This paper presents a method for achieving planar multi-phase, multi-contact robotic walking using a human inspired
control and optimization. The walking presented contains phases with differing degrees of actuation including
over actuated double support, fully actuated single support, and under actuated single support via
heel lift. An optimization methodology for generating walking gaits will be presented utilizing partial hybrid zero dynamics. It will be shown that this method yields periodic, multi-contact locomotion. In addition, a control law utilizing online optimization via
a quadratic program will be presented, resulting in improved controller
capabilities and performance. Simulation results for both standard Input-Output Linearization as well as the quadratic program will be presented.
\end{abstract}
\input{sections/sec_introduction}
\input{sections/sec_hybridsystems_ames}
\input{sections/sec_control_ames}
\input{sections/sec_optimization}
\input{sections/QuadraticProgram}
\input{sections/sec_simresults}
\input{sections/sec_conclusion}
\bibliographystyle{abbrv}
\bibliography{bibdata}
\end{document}