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3D dynamic walking with underactuated humanoid robots: A direct collocation framework for optimizing hybrid zero dynamics

Hereid, Ayonga and Cousineau, Eric A. and Hubicki, Christian M. and Ames, Aaron D. (2016) 3D dynamic walking with underactuated humanoid robots: A direct collocation framework for optimizing hybrid zero dynamics. In: 2016 IEEE International Conference on Robotics and Automation (ICRA). IEEE , Piscataway, NJ, pp. 1447-1454. ISBN 978-1-4673-8026-3. https://resolver.caltech.edu/CaltechAUTHORS:20190208-091046999

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Abstract

Hybrid zero dynamics (HZD) has emerged as a popular framework for dynamic and underactuated bipedal walking, but has significant implementation difficulties when applied to the high degrees of freedom present in humanoid robots. The primary impediment is the process of gait design-it is difficult for optimizers to converge on a viable set of virtual constraints defining a gait. This paper presents a methodology that allows for the fast and reliable generation of efficient multi-contact robotic walking gaits through the framework of HZD, even in the presence of underactuation. To achieve this goal, we unify methods from trajectory optimization with the control framework of multi-domain hybrid zero dynamics. By formulating a novel optimization problem in the context of direct collocation and generating analytic Jacobians for the constraints, solving the resulting nonlinear program becomes tractable for large-scale nonlinear programming solvers, even for systems as high-dimensional as humanoid robots. We experimentally validated our methodology on the spring-legged prototype humanoid, DURUS, showing that the optimization approach yields dynamic and stable 3D walking gaits.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
https://doi.org/10.1109/ICRA.2016.7487279DOIArticle
ORCID:
AuthorORCID
Hereid, Ayonga0000-0002-4156-2013
Ames, Aaron D.0000-0003-0848-3177
Additional Information:© 2016 IEEE. This research is supported by DARPA grant D15AP00006 and NSF grants CPS-1239055 and NRI-1526519. The authors would like to thank the researchers and technicians at SRI International, other members of the AMBER Lab, and our collaborators in Dr. Jonathan Hurst’s Dynamic Robotics Laboratory at Oregon State University. We also thank Mikhail Jones for guidance on large-scale optimization formulations.
Funders:
Funding AgencyGrant Number
Defense Advanced Research Projects Agency (DARPA)D15AP00006
NSFCPS-1239055
NSFIIS-1526519
Record Number:CaltechAUTHORS:20190208-091046999
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20190208-091046999
Official Citation:A. Hereid, E. A. Cousineau, C. M. Hubicki and A. D. Ames, "3D dynamic walking with underactuated humanoid robots: A direct collocation framework for optimizing hybrid zero dynamics," 2016 IEEE International Conference on Robotics and Automation (ICRA), Stockholm, 2016, pp. 1447-1454. doi: 10.1109/ICRA.2016.7487279
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:92784
Collection:CaltechAUTHORS
Deposited By: Tony Diaz
Deposited On:08 Feb 2019 17:16
Last Modified:03 Oct 2019 20:48

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