Name
Abstract | ||
|---|---|---|
This paper presents a formal framework for achieving multi-contact bipedal robotic walking, and realizes this methodology experimentally on two robotic platforms: AMBER2 and Assume The Robot Is A Sphere (ATRIAS). Inspired by the key feature encoded in human walking-multi-contact behavior-this approach begins with the analysis of human locomotion and uses it to motivate the construction of a hybrid system model representing a multi-contact robotic walking gait. Human-inspired outputs are extracted from reference locomotion data to characterize the human model or the spring-loaded invert pendulum (SLIP) model, and then employed to develop the human-inspired control and an optimization problem that yields stable multi-domain walking. Through a trajectory reconstruction strategy motivated by the process that generates the walking gait, the mathematical constructions are successfully translated to the two physical robots experimentally. |
Year | DOI | Venue |
|---|---|---|
2017 | 10.1017/S0263574715000995 | ROBOTICA |
Keywords | Field | DocType |
Bipedal robotic walking,Human-like locomotion,Multi-contact locomotion,Hybrid zero dynamics,Optimization | Gait,Control theory,Slip (materials science),Control engineering,Robot locomotion,Engineering,Pendulum,Robot,Hybrid system,Optimization problem,Trajectory | Journal |
Volume | Issue | ISSN |
35 | 5 | 0263-5747 |
Citations | PageRank | References |
6 | 0.75 | 10 |
Authors | ||
4 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Huihua Zhao | 1 | 32 | 5.02 |
| Ayonga Hereid | 2 | 80 | 12.25 |
| Wen-Loong Ma | 3 | 25 | 6.05 |
| Aaron D. Ames | 4 | 1202 | 136.68 |