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Bipedial Locomotion Up Sandy Slopes: Systematic Experiments Using Zero Moment Point Methods

Gosyne, Jonathan R. and Hubicki, Christian M. and Xiong, Xiaobin and Ames, Aaron D. and Goldman, Daniel I. (2018) Bipedial Locomotion Up Sandy Slopes: Systematic Experiments Using Zero Moment Point Methods. In: 2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids). IEEE , Piscataway, NJ, pp. 994-1001. ISBN 9781538672839. https://resolver.caltech.edu/CaltechAUTHORS:20190131-131445073

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Abstract

Bipedal robotic locomotion in granular media presents a unique set of challenges at the intersection of granular physics and robotic locomotion. In this paper, we perform a systematic experimental study in which biped robotic gaits for traversing a sandy slope are empirically designed using Zero Moment Point (ZMP) methods. We are able to implement gaits that allow our 7 degree-of-freedom planar walking robot to ascend slopes with inclines up to 10°. Firstly, we identify a given set of kinematic parameters that meet the ZMP stability criterion for uphill walking at a given angle. We then find that further relating the step lengths and center of mass heights to specific slope angles through an interpolated fit allows for significantly improved success rates when ascending a sandy slope. Our results provide increased insight into the design, sensitivity and robustness of gaits on granular material, and the kinematic changes necessary for stable locomotion on complex media.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
https://doi.org/10.1109/humanoids.2018.8624959DOIBook Section
ORCID:
AuthorORCID
Ames, Aaron D.0000-0003-0848-3177
Additional Information:© 2018 IEEE. We would like to thank all members of the Complex Rheology and Biomechanics (CRAB) Lab, particularly Yasemin Aydin for her technical advice, and Enes Aydin for his help in building the fluidized bed and the wiring harness setup. This work is supported by NASA NRI Grant RG053, NSF AITF Grant 4106F91 and Army Grant 4106G16. Supplementary footage for this experimental study may be found on the CRAB Lab Biped Walking Channel.
Funders:
Funding AgencyGrant Number
NASANRI RG053
NSFAITF-4106F91
Army Research Office (ARO)4106G16
Record Number:CaltechAUTHORS:20190131-131445073
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20190131-131445073
Official Citation:J. R. Gosyne, C. M. Hubicki, X. Xiong, A. D. Ames and D. I. Goldman, "Bipedial Locomotion Up Sandy Slopes: Systematic Experiments Using Zero Moment Point Methods," 2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids), Beijing, China, 2018, pp. 994-1001. doi: 10.1109/HUMANOIDS.2018.8624959
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:92546
Collection:CaltechAUTHORS
Deposited By: George Porter
Deposited On:31 Jan 2019 23:14
Last Modified:03 Oct 2019 20:45

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