Boundedness approach to gait planning for the flexible linear inverted pendulum model

Leonardo Lanari; Oliver Urbann; Seth Hutchinson; Ingmar Schwarz

doi:10.1007/978-3-319-68792-6_5

Boundedness approach to gait planning for the flexible linear inverted pendulum model

Leonardo Lanari, Oliver Urbann, Seth Hutchinson, Ingmar Schwarz

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

In this paper, we solve the gait planning problem by using the Flexible LIP model, which has been shown to be more realistic w.r.t. the LIP for cost-effective or compliant biped robots for gait generation. We extend a stable inversion approach to obtain bounded Center of Mass (CoM) reference trajectories and show several advantages compared to preview control: avoidance of numerical integration, lower computation time, exact tracking of reference Zero Moment Point (ZMP) trajectories, and the ability to come to an immediate stop.

Original language	English (US)
Title of host publication	RoboCup 2016
Subtitle of host publication	Robot World Cup XX
Editors	Raymond Sheh, Daniel D. Lee, Sven Behnke, Sanem Sariel
Publisher	Springer-Verlag Berlin Heidelberg
Pages	58-70
Number of pages	13
ISBN (Print)	9783319687919
DOIs	https://doi.org/10.1007/978-3-319-68792-6_5
State	Published - Jan 1 2017
Event	20th Annual RoboCup International Symposium, 2016 - Leipzig, Germany Duration: Jun 30 2016 → Jul 4 2016

Publication series

Name	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume	9776 LNAI
ISSN (Print)	0302-9743
ISSN (Electronic)	1611-3349

Other

Other	20th Annual RoboCup International Symposium, 2016
Country	Germany
City	Leipzig
Period	6/30/16 → 7/4/16

Keywords

Boundedness
LIPM
Preview control
Stable inversion

ASJC Scopus subject areas

Theoretical Computer Science
Computer Science(all)

Access to Document

10.1007/978-3-319-68792-6_5

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Cite this

Lanari, L., Urbann, O., Hutchinson, S., & Schwarz, I. (2017). Boundedness approach to gait planning for the flexible linear inverted pendulum model. In R. Sheh, D. D. Lee, S. Behnke, & S. Sariel (Eds.), RoboCup 2016: Robot World Cup XX (pp. 58-70). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 9776 LNAI). Springer-Verlag Berlin Heidelberg. https://doi.org/10.1007/978-3-319-68792-6_5

Boundedness approach to gait planning for the flexible linear inverted pendulum model. / Lanari, Leonardo; Urbann, Oliver; Hutchinson, Seth; Schwarz, Ingmar.

RoboCup 2016: Robot World Cup XX. ed. / Raymond Sheh; Daniel D. Lee; Sven Behnke; Sanem Sariel. Springer-Verlag Berlin Heidelberg, 2017. p. 58-70 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 9776 LNAI).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Lanari, L, Urbann, O, Hutchinson, S & Schwarz, I 2017, Boundedness approach to gait planning for the flexible linear inverted pendulum model. in R Sheh, DD Lee, S Behnke & S Sariel (eds), RoboCup 2016: Robot World Cup XX. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), vol. 9776 LNAI, Springer-Verlag Berlin Heidelberg, pp. 58-70, 20th Annual RoboCup International Symposium, 2016, Leipzig, Germany, 6/30/16. https://doi.org/10.1007/978-3-319-68792-6_5

Lanari L, Urbann O, Hutchinson S, Schwarz I. Boundedness approach to gait planning for the flexible linear inverted pendulum model. In Sheh R, Lee DD, Behnke S, Sariel S, editors, RoboCup 2016: Robot World Cup XX. Springer-Verlag Berlin Heidelberg. 2017. p. 58-70. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)). https://doi.org/10.1007/978-3-319-68792-6_5

Lanari, Leonardo ; Urbann, Oliver ; Hutchinson, Seth ; Schwarz, Ingmar. / Boundedness approach to gait planning for the flexible linear inverted pendulum model. RoboCup 2016: Robot World Cup XX. editor / Raymond Sheh ; Daniel D. Lee ; Sven Behnke ; Sanem Sariel. Springer-Verlag Berlin Heidelberg, 2017. pp. 58-70 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)).

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