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Multi-contact bipedal robotic locomotion

Zhao, Huihua and Hereid, Ayonga and Ma, Wen-loong and Ames, Aaron D. (2017) Multi-contact bipedal robotic locomotion. Robotica, 35 (5). pp. 1072-1106. ISSN 0263-5747. https://resolver.caltech.edu/CaltechAUTHORS:20191115-161042888

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Abstract

This paper presents a formal framework for achieving multi-contact bipedal robotic walking, and realizes this methodology experimentally on two robotic platforms: AMBER2 and Assume The Robot Is A Sphere (ATRIAS). Inspired by the key feature encoded in human walking—multi-contact behavior—this approach begins with the analysis of human locomotion and uses it to motivate the construction of a hybrid system model representing a multi-contact robotic walking gait. Human-inspired outputs are extracted from reference locomotion data to characterize the human model or the spring-loaded invert pendulum (SLIP) model, and then employed to develop the human-inspired control and an optimization problem that yields stable multi-domain walking. Through a trajectory reconstruction strategy motivated by the process that generates the walking gait, the mathematical constructions are successfully translated to the two physical robots experimentally.


Item Type:Article
Related URLs:
URLURL TypeDescription
https://doi.org/10.1017/s0263574715000995DOIArticle
https://doi.org/10.1017/S026357471600031XDOICorrigendum
ORCID:
AuthorORCID
Hereid, Ayonga0000-0002-4156-2013
Ma, Wen-loong0000-0002-0115-5632
Ames, Aaron D.0000-0003-0848-3177
Additional Information:© 2015 Cambridge University Press. Accepted November 3, 2015. First published online: December 2, 2015. This research is supported by CPS grant 1239085 and SRI grant W31P4Q-13-C-009. The authors would like to thank Dynamic Robotics Laboratory, OSU and National Instruments for being instrumental in supporting us with all the necessary hardware and software.
Funders:
Funding AgencyGrant Number
NSFCNS-1239085
Department of DefenseW31P4Q-13-C-009
Subject Keywords:Bipedal robotic walking; Human-like locomotion; Multi-contact locomotion; Hybrid zero dynamics; Optimization
Issue or Number:5
Record Number:CaltechAUTHORS:20191115-161042888
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20191115-161042888
Official Citation:Zhao, H., Hereid, A., Ma, W., & Ames, A. (2017). Multi-contact bipedal robotic locomotion. Robotica, 35(5), 1072-1106. doi:10.1017/S0263574715000995
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:99877
Collection:CaltechAUTHORS
Deposited By: Tony Diaz
Deposited On:16 Nov 2019 00:21
Last Modified:16 Nov 2019 00:21

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