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Work those arms: Toward dynamic and stable humanoid walking that optimizes full-body motion

Hubicki, Christian M. and Hereid, Ayonga and Grey, Michael X. and Thomaz, Andrea L. and Ames, Aaron D. (2016) Work those arms: Toward dynamic and stable humanoid walking that optimizes full-body motion. In: 2016 IEEE International Conference on Robotics and Automation (ICRA). IEEE , Piscataway, NJ, pp. 1552-1559. ISBN 978-1-4673-8026-3. https://resolver.caltech.edu/CaltechAUTHORS:20190208-090232649

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Abstract

Humanoid robots are designed with dozens of actuated joints to suit a variety of tasks, but walking controllers rarely make the best use of all of this freedom. We present a framework for maximizing the use of the full humanoid body for the purpose of stable dynamic locomotion, which requires no restriction to a planning template (e.g. LIPM). Using a hybrid zero dynamics (HZD) framework, this approach optimizes a set of outputs which provides requirements for the motion for all actuated links, including arms. These output equations are then rapidly solved by a whole-body inverse-kinematic (IK) solver, providing a set of joint trajectories to the robot. We apply this procedure to a simulation of the humanoid robot, DRC-HUBO, which has over 27 actuators. As a consequence, the resulting gaits swing their arms, not by a user defining swinging motions a priori or superimposing them on gaits post hoc, but as an emergent behavior from optimizing the dynamic gait. We also present preliminary dynamic walking experiments with DRC-HUBO in hardware, thereby building a case that hybrid zero dynamics as augmented by inverse kinematics (HZD+IK) is becoming a viable approach for controlling the full complexity of humanoid locomotion.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
https://doi.org/10.1109/ICRA.2016.7487293DOIArticle
ORCID:
AuthorORCID
Hereid, Ayonga0000-0002-4156-2013
Ames, Aaron D.0000-0003-0848-3177
Additional Information:© 2016 IEEE. The authors would like to thank their funding sources: DARPA grant number D15AP00006 and NSF grant numbers CPS-1239055 and NRI-1526519.
Funders:
Funding AgencyGrant Number
Defense Advanced Research Projects Agency (DARPA)D15AP00006
NSFCPS-1239055
NSFIIS-1526519
Record Number:CaltechAUTHORS:20190208-090232649
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20190208-090232649
Official Citation:C. M. Hubicki, A. Hereid, M. X. Grey, A. L. Thomaz and A. D. Ames, "Work those arms: Toward dynamic and stable humanoid walking that optimizes full-body motion," 2016 IEEE International Conference on Robotics and Automation (ICRA), Stockholm, 2016, pp. 1552-1559. doi: 10.1109/ICRA.2016.7487293
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:92783
Collection:CaltechAUTHORS
Deposited By: Tony Diaz
Deposited On:08 Feb 2019 17:17
Last Modified:03 Oct 2019 20:48

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