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Sequential Motion Planning for Bipedal Somersault via Flywheel SLIP and Momentum Transmission with Task Space Control

Xiong, Xiaobin and Ames, Aaron D. (2020) Sequential Motion Planning for Bipedal Somersault via Flywheel SLIP and Momentum Transmission with Task Space Control. In: 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE , Piscataway, NJ, pp. 3510-3517. ISBN 978-1-7281-6212-6. https://resolver.caltech.edu/CaltechAUTHORS:20201109-155520989

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Abstract

In this paper, we present a sequential motion planning and control method for generating somersaults on bipedal robots. The somersault (backflip or frontflip) is considered as a coupling between an axile hopping motion and a rotational motion about the center of mass of the robot; these are encoded by a hopping Spring-loaded Inverted Pendulum (SLIP) model and the rotation of a Flywheel, respectively. We thus present the Flywheel SLIP model for generating the desired motion on the ground phase. In the flight phase, we present a momentum transmission method to adjust the orientation of the lower body based on the conservation of the centroidal momentum. The generated motion plans are realized on the full-dimensional robot via momentum-included task space control. Finally, the proposed method is implemented on a modified version of the bipedal robot Cassie in simulation wherein multiple somersault motions are generated.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
https://doi.org/10.1109/IROS45743.2020.9341467DOIArticle
https://ieeexplore.ieee.org/document/9341467PublisherArticle
https://arxiv.org/abs/2008.02432arXivDiscussion Paper
ORCID:
AuthorORCID
Xiong, Xiaobin0000-0002-6275-3900
Ames, Aaron D.0000-0003-0848-3177
Additional Information:© 2020 IEEE. This work is supported by NSF 1924526, NSF 1932091, NSF 1923239.
Funders:
Funding AgencyGrant Number
NSFECCS-1924526
NSFCNS-1932091
NSFCMMI-1923239
Record Number:CaltechAUTHORS:20201109-155520989
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20201109-155520989
Official Citation:X. Xiong and A. D. Ames, "Sequential Motion Planning for Bipedal Somersault via Flywheel SLIP and Momentum Transmission with Task Space Control," 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Las Vegas, NV, USA, 2020, pp. 3510-3517, doi: 10.1109/IROS45743.2020.9341467
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:106568
Collection:CaltechAUTHORS
Deposited By: George Porter
Deposited On:10 Nov 2020 15:11
Last Modified:12 Feb 2021 18:10

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