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Dynamic and Versatile Humanoid Walking via Embedding 3D Actuated SLIP Model with Hybrid LIP Based Stepping

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. 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.


Item Type:Article
Related URLs:
URLURL TypeDescription
https://doi.org/10.1109/lra.2020.3013924DOIArticle
https://arxiv.org/abs/2008.02435arXivDiscussion Paper
ORCID:
AuthorORCID
Xiong, Xiaobin0000-0002-6275-3900
Ames, Aaron D.0000-0003-0848-3177
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.
Funders:
Funding AgencyGrant Number
NSFCMMI-1923239
Amazon-Caltech Fellowship in AIUNSPECIFIED
Subject Keywords:Humanoid and Bipedal Locomotion, Legged Robots, SLIP, Hybrid-Linear Inverted Pendulum
Issue or Number:4
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:24 Nov 2020 22:30

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