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Realizing dynamic and efficient bipedal locomotion on the humanoid robot DURUS

Reher, Jacob and Cousineau, Eric A. and Hereid, Ayonga and Hubicki, Christian M. and Ames, Aaron D. (2016) Realizing dynamic and efficient bipedal locomotion on the humanoid robot DURUS. In: 2016 IEEE International Conference on Robotics and Automation (ICRA). IEEE , Piscataway, NJ, pp. 1794-1801. ISBN 978-1-4673-8026-3. https://resolver.caltech.edu/CaltechAUTHORS:20190208-085615775

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Abstract

This paper presents the methodology used to achieve efficient and dynamic walking behaviors on the prototype humanoid robotics platform, DURUS. As a means of providing a hardware platform capable of these behaviors, the design of DURUS combines highly efficient electromechanical components with “control in the loop” design of the leg morphology. Utilizing the final design of DURUS, a formal framework for the generation of dynamic walking gaits which maximizes efficiency by exploiting the full body dynamics of the robot, including the interplay between the passive and active elements, is developed. The gaits generated through this methodology form the basis of the control implementation experimentally realized on DURUS; in particular, the trajectories generated through the formal framework yield a feedforward control input which is modulated by feedback in the form of regulators that compensate for discrepancies between the model and physical system. The end result of the unified approach to control-informed mechanical design, formal gait design and regulator-based feedback control implementation is efficient and dynamic locomotion on the humanoid robot DURUS. In particular, DURUS was able to demonstrate dynamic locomotion at the DRC Finals Endurance Test, walking for just under five hours in a single day, traveling 3.9 km with a mean cost of transport of 1.61-the lowest reported cost of transport achieved on a bipedal humanoid robot.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
https://doi.org/10.1109/ICRA.2016.7487325DOIArticle
ORCID:
AuthorORCID
Hereid, Ayonga0000-0002-4156-2013
Ames, Aaron D.0000-0003-0848-3177
Additional Information:© 2016 IEEE. This work is supported by the DARPA M3A Program and NSF grants CPS-1239055, NRI-1526519. The authors would like to thank SRI for the design, development, and testing of DURUS, others in the AMBER Lab, Jessy Grizzle, and our collaborators in Dr. Jonathan Hurst’s Dynamic Robotics Laboratory at Oregon State University.
Funders:
Funding AgencyGrant Number
Defense Advanced Research Projects Agency (DARPA)UNSPECIFIED
NSFCPS-1239055
NSFIIS-1526519
Record Number:CaltechAUTHORS:20190208-085615775
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20190208-085615775
Official Citation:J. Reher, E. A. Cousineau, A. Hereid, C. M. Hubicki and A. D. Ames, "Realizing dynamic and efficient bipedal locomotion on the humanoid robot DURUS," 2016 IEEE International Conference on Robotics and Automation (ICRA), Stockholm, 2016, pp. 1794-1801. doi: 10.1109/ICRA.2016.7487325
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:92782
Collection:CaltechAUTHORS
Deposited By: Tony Diaz
Deposited On:08 Feb 2019 17:19
Last Modified:03 Oct 2019 20:48

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