Optimal double support zero moment point trajectories for bipedal locomotion

Leonardo Lanari, Seth Hutchinson

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this paper, we address the problem of planning optimal zero moment point (ZMP) trajectories for the double support phase in bipedal gaits that alternate between single and double support. This is achieved by allowing pre- and post-actuation during the single support phases. Thus, we solve two coupled problems: exact tracking of a given desired ZMP trajectory in the pre- and post-phases (single support), and determination of the desired ZMP during the transition phase (double support). Both are solved while minimizing the overall control energy. We also provide a formal method to assess how the choice of desired ZMP trajectory during the single support phases impacts the overall energy expended during the footstep cycle. Although the obtained solution may not be physically feasible in general, it represents a benchmark to which alternative feasible solutions may be compared. Our approach generalizes previous results that consider only constant output in the preand post-phases e.g., allowing pre- and post-phase output from a family of polynomial splines. We evaluate the approach via simulations.

Original languageEnglish (US)
Title of host publicationIROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages5162-5168
Number of pages7
ISBN (Electronic)9781509037629
DOIs
StatePublished - Nov 28 2016
Event2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016 - Daejeon, Korea, Republic of
Duration: Oct 9 2016Oct 14 2016

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
Volume2016-November
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Other

Other2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016
CountryKorea, Republic of
CityDaejeon
Period10/9/1610/14/16

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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  • Cite this

    Lanari, L., & Hutchinson, S. (2016). Optimal double support zero moment point trajectories for bipedal locomotion. In IROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 5162-5168). [7759758] (IEEE International Conference on Intelligent Robots and Systems; Vol. 2016-November). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.2016.7759758