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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.

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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
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.
Funding AgencyGrant Number
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:
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
Deposited By: Tony Diaz
Deposited On:16 Nov 2019 00:21
Last Modified:16 Nov 2019 00:21

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