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Achieving bipedal locomotion on rough terrain through human-inspired control

Kolathaya, Shishir and Ames, Aaron D. (2012) Achieving bipedal locomotion on rough terrain through human-inspired control. In: 2012 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR). IEEE , Piscataway, NJ, pp. 1-6. ISBN 978-1-4799-0165-4. https://resolver.caltech.edu/CaltechAUTHORS:20190213-085525671

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Abstract

This paper presents a method for achieving robotic walking on rough terrain through Human-Inspired Control. This control methodology uses human data to achieve human like walking in robots by considering outputs that appear to be indicative of walking, and using nonlinear control methods to track a set of functions called Canonical Walking Functions (CWF). While this method has proven successful on a specific well-defined terrain, rough terrain walking is achieved by dynamically changing the CWF that the robot outputs should track at every step. To make the computation more tractable Extended Canonical Walking Functions (ECWF) are used to generate these desired functions instead of CWF. The state of the robot, after every non-stance foot strike, is actively sensed and a new CWF is constructed to ensure Hybrid Zero Dynamics is respected for the next step. Finally, the technique developed is implemented on different terrains in simulation. The same technique is adopted experimentally on the bipedal robot AMBER and tested on sinusoidal terrain. Experimental results show how the walking gait morphs based upon the terrain, thereby justifying the theory applied.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
https://doi.org/10.1109/SSRR.2012.6523897DOIArticle
ORCID:
AuthorORCID
Kolathaya, Shishir0000-0001-8689-2318
Ames, Aaron D.0000-0003-0848-3177
Additional Information:© 2012 IEEE. The work is supported by NSF grants CNS-0953823 and CNS-1136104, NHARP project 000512-0184-2009 and NASA contract NNX12AB58G. The authors would like to thank National Instruments and Andy Chang for being instrumental in supporting us with all the necessarily hardware and software.
Funders:
Funding AgencyGrant Number
NSFCNS-0953823
NSFCNS-1136104
Norman Hackerman Advanced Research Program (NHARP)000512-0184-2009
NASANNX12AB58G
Subject Keywords:Bipedal robotic walking, rough terrain navigation, human-inspired control
Record Number:CaltechAUTHORS:20190213-085525671
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20190213-085525671
Official Citation:S. Kolathaya and A. D. Ames, "Achieving bipedal locomotion on rough terrain through human-inspired control," 2012 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), College Station, TX, 2012, pp. 1-6. doi: 10.1109/SSRR.2012.6523897
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:92873
Collection:CaltechAUTHORS
Deposited By: Tony Diaz
Deposited On:13 Feb 2019 18:29
Last Modified:03 Oct 2019 20:49

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