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Outputs of human walking for bipedal robotic controller design

Jiang, Shu and Partrick, Shawanee and Zhao, Huihua and Ames, Aaron D. (2012) Outputs of human walking for bipedal robotic controller design. In: 2012 American Control Conference (ACC). IEEE , Piscataway, NJ, pp. 4843-4848. ISBN 978-1-4577-1096-4. https://resolver.caltech.edu/CaltechAUTHORS:20190215-125345208

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Abstract

This paper presents a method to determine outputs associated with human walking data that can be used to design controllers that achieve human-like robotic walking. We consider a collection of human outputs, i.e., functions of the kinematics computed from experimental human data, that satisfy criteria necessary for human-inspired bipedal robot control construction. These human outputs are described in a form amendable to controller design through a special class of time based functions - termed canonical walking functions. An optimization problem is presented to determine the parameters of this controller that yields the best fit to the human data that simultaneously produces stable robotic walking. The optimal value of the cost function is used as a metric to determine which human outputs result in the most “human-like” robotic walking. The human-like nature of the resulting robotic walking is verified through simulation.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
https://doi.org/10.1109/ACC.2012.6315648DOIArticle
ORCID:
AuthorORCID
Ames, Aaron D.0000-0003-0848-3177
Additional Information:© 2012 AACC. This work is supported by by NSF grant CNS-0953823 and NHARP award 00512-0184-2009.
Funders:
Funding AgencyGrant Number
NSFCNS-0953823
Norman Hackerman Advanced Research Program (NHARP)00512-0184-2009
Record Number:CaltechAUTHORS:20190215-125345208
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20190215-125345208
Official Citation:S. Jiang, S. Partrick, H. Zhao and A. D. Ames, "Outputs of human walking for bipedal robotic controller design," 2012 American Control Conference (ACC), Montreal, QC, 2012, pp. 4843-4848. doi: 10.1109/ACC.2012.6315648
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:92957
Collection:CaltechAUTHORS
Deposited By: Tony Diaz
Deposited On:19 Feb 2019 22:47
Last Modified:03 Oct 2019 20:50

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