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Human-inspired multi-contact locomotion with AMBER2

Zhao, Hui-Hua and Ma, Wen-Loong and Ames, Aaron D. and Zeagler, Michael B. (2014) Human-inspired multi-contact locomotion with AMBER2. In: 2014 ACM/IEEE International Conference on Cyber-Physical Systems (ICCPS). IEEE , Piscataway, NJ, pp. 199-210. ISBN 978-1-4799-4930-4. https://resolver.caltech.edu/CaltechAUTHORS:20191118-152240499

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Abstract

This paper presents a methodology for translating a key feature encoded in human locomotion - multi-contact behavior - to a physical 2D bipedal robot, AMBER2, by leveraging novel controller design, optimization methods, and software structures for the translation to hardware. This paper begins with the analysis of human locomotion data and uses it to motivate the construction of a hybrid system model representing a multi-contact robotic walking gait. By again looking to human data for inspiration, human-inspired controllers are developed and used in the formulation of an optimization problem that yields stable human-like multi-domain walking in simulation. These formal results are translated to hardware implementation via a novel dynamic trajectory generation strategy. Finally, the specific software structures utilized to translate these trajectories to hardware are presented. The end result is experimentally realized stable robotic walking with remarkably human-like multi-contact foot behaviors.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
https://doi.org/10.1109/iccps.2014.6843723DOIArticle
ORCID:
AuthorORCID
Ma, Wen-Loong0000-0002-0115-5632
Ames, Aaron D.0000-0003-0848-3177
Additional Information:© 2014 IEEE. This research is supported by CPS: 1239085, SRI: W31P4Q-13-C-009, CNS: 0953823.
Funders:
Funding AgencyGrant Number
NSFCNS-1239085
Department of DefenseW31P4Q-13-C-009
NSFCNS-0953823
Record Number:CaltechAUTHORS:20191118-152240499
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20191118-152240499
Official Citation:H. Zhao, W. Ma, A. D. Ames and M. B. Zeagler, "Human-inspired multi-contact locomotion with AMBER2," 2014 ACM/IEEE International Conference on Cyber-Physical Systems (ICCPS), Berlin, 2014, pp. 199-210. doi: 10.1109/ICCPS.2014.6843723
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:99909
Collection:CaltechAUTHORS
Deposited By: Tony Diaz
Deposited On:19 Nov 2019 00:06
Last Modified:19 Nov 2019 00:06

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