Xiong, Xiaobin and Ames, Aaron D. (2020) Dynamic and Versatile Humanoid Walking via Embedding 3D Actuated SLIP Model with Hybrid LIP Based Stepping. IEEE Robotics and Automation Letters, 5 (4). pp. 6286-6293. ISSN 2377-3766. doi:10.1109/lra.2020.3013924. https://resolver.caltech.edu/CaltechAUTHORS:20200806-153948039
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Abstract
In this letter, we propose an efficient approach to generate dynamic and versatile humanoid walking with non-constant center of mass (COM) height. We exploit the benefits of using reduced order models (ROMs) and stepping control to generate dynamic and versatile walking motion. Specifically, we apply the stepping controller based on the Hybrid Linear Inverted Pendulum Model (H-LIP) to perturb a periodic walking motion of a 3D actuated Spring Loaded Inverted Pendulum (3D-aSLIP), which yields versatile walking behaviors of the 3D-aSLIP, including various 3D periodic walking, fixed location tracking, and global trajectory tracking. The 3D-aSLIP walking is then embedded on the fully-actuated humanoid via the task space control on the COM dynamics and ground reaction forces. The proposed approach is realized on the robot model of Atlas in simulation, wherein versatile dynamic motions are generated.
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| Additional Information: | © 2020 IEEE. Manuscript received February 24, 2020; accepted June 20, 2020. Date of publication August 4, 2020; date of current version August 11, 2020. This letter was recommended for publication by Associate Editor P.-B. Wieber and Editor A. Kheddar upon evaluation of the Reviewers’ comments. This work was supported by NSF 1923239 Amazon-Caltech Fellowship in AI. | |||||||||
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| Subject Keywords: | Humanoid and Bipedal Locomotion, Legged Robots, SLIP, Hybrid-Linear Inverted Pendulum | |||||||||
| Issue or Number: | 4 | |||||||||
| DOI: | 10.1109/lra.2020.3013924 | |||||||||
| Record Number: | CaltechAUTHORS:20200806-153948039 | |||||||||
| Persistent URL: | https://resolver.caltech.edu/CaltechAUTHORS:20200806-153948039 | |||||||||
| Official Citation: | X. Xiong and A. D. Ames, "Dynamic and Versatile Humanoid Walking via Embedding 3D Actuated SLIP Model With Hybrid LIP Based Stepping," in IEEE Robotics and Automation Letters, vol. 5, no. 4, pp. 6286-6293, Oct. 2020, doi: 10.1109/LRA.2020.3013924 | |||||||||
| Usage Policy: | No commercial reproduction, distribution, display or performance rights in this work are provided. | |||||||||
| ID Code: | 104787 | |||||||||
| Collection: | CaltechAUTHORS | |||||||||
| Deposited By: | George Porter | |||||||||
| Deposited On: | 10 Aug 2020 16:50 | |||||||||
| Last Modified: | 16 Nov 2021 18:35 |
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