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Efficient HZD gait generation for three-dimensional underactuated humanoid running

Ma, Wen-Loong and Hereid, Ayonga and Hubicki, Christian M. and Ames, Aaron D. (2016) Efficient HZD gait generation for three-dimensional underactuated humanoid running. In: 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE , Piscataway, NJ, pp. 5819-5825. ISBN 978-1-5090-3762-9.

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Dynamic humanoid locomotion is a challenging control problem, and running is especially difficult to achieve, given the underactuation inherent to aerial domains. Previous work developed a gait-generating optimization framework for dynamic locomotion in the context of hybrid zero dynamics, producing stable 3D walking on the humanoid hardware platform DURUS. Here, we demonstrate that this optimization method also extends to stable 3D running. Gaits generated from the optimization, which utilizes the dynamics of all 23 degrees of freedom to maximize energy economy, results in stable running in a DURUS simulation model. Notably, the presented running is underactuated in all domains, due to DURUS' spring-legged design. Further, we generate 25 different running gaits, over a range of speeds (1.5-3.0 m/s), to demonstrate the reliability of solving the large-scale nonlinear program. We report statistical performance of the optimization in successfully generating stable running (average computation time: 323 seconds) in an effort to establish a benchmark for large-scale gait generation. We inspected this array of gaits across speeds, noting recognizable trends in optimized strategies from prior studies on lower-order models-e.g., both increased step frequency and step length with speed-along with the first reported cost-of-transport curve for a 3D humanoid running model. We consider this result an important step toward humanoid running on the DURUS hardware platform.

Item Type:Book Section
Related URLs:
URLURL TypeDescription
Ma, Wen-Loong0000-0002-0115-5632
Hereid, Ayonga0000-0002-4156-2013
Hubicki, Christian M.0000-0002-2092-3772
Ames, Aaron D.0000-0003-0848-3177
Additional Information:© 2016 IEEE. This research is supported by CPS grant 1239085 and SRI grant W31P4Q-13-C-009.
Funding AgencyGrant Number
Department of DefenseW31P4Q-13-C-009
Record Number:CaltechAUTHORS:20190205-143905644
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Official Citation:W. Ma, A. Hereid, C. M. Hubicki and A. D. Ames, "Efficient HZD gait generation for three-dimensional underactuated humanoid running," 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Daejeon, 2016, pp. 5819-5825. doi: 10.1109/IROS.2016.7759856
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:92696
Deposited By: Tony Diaz
Deposited On:05 Feb 2019 22:49
Last Modified:16 Nov 2021 03:52

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