Name
Abstract | ||
|---|---|---|
The one-third power law models how human speed of motion depends on the path's curvature. This paper studies the interest of using this law for humanoid robot walking control along a planar reference trajectory. We predicted that humanoid robots following a reference trajectory may benefit from one-third power law speed profiles by reducing closed-loop drift and energy consumption. To robustly execute reference trajectories, we use contracting morphed Andronov-Hopf oscillators, regularized to follow a power law while converging to a planned cyclic trajectory. The walking pattern generator of HRP-2 uses these guiding dynamics to walk along elliptic trajectories. In dynamic simulation, we observe minimal geometric drift with the one-third power law, demonstrating increased precision compared with constant speed and other power laws. Closed-loop experiments on HRP-2 result in a small drift of all power law motions from the reference trajectory, showing the efficiency of the control architecture. We observe that the one-third power law controller demands less compensatory action, and therefore lowers the burden on the hardware. Slowing in curved movement regions also unexpectedly allows for faster overall movement. |
Year | DOI | Venue |
|---|---|---|
2016 | 10.1109/BIOROB.2016.7523606 | 2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob) |
Keywords | Field | DocType |
robust human-inspired power law trajectories,humanoid HRP-2 robot,one-third power law models,walking control,planar reference trajectory,closed-loop drift,energy consumption,Andronov-Hopf oscillators,planned cyclic trajectory,dynamic simulation,power law controller | Control theory,Control theory,Simulation,Digital pattern generator,Robot,Power law,Energy consumption,Dynamic simulation,Trajectory,Mathematics,Humanoid robot | Conference |
ISSN | ISBN | Citations |
2155-1782 | 978-1-5090-3288-4 | 0 |
PageRank | References | Authors |
0.34 | 0 | 6 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| M. Karklinsky | 1 | 0 | 0.34 |
| Maximilien Naveau | 2 | 44 | 4.45 |
| Albert Mukovskiy | 3 | 61 | 7.24 |
| Olivier Stasse | 4 | 1438 | 85.86 |
| Tamar Flash | 5 | 167 | 38.81 |
| Philippe Souères | 6 | 323 | 43.63 |