Optimal gait primitives for dynamic bipedal locomotion

Bokman Lim; Jusuk Lee; Joohyung Kim; Minhyung Lee; Hoseong Kwak; Sunggu Kwon; Heekuk Lee; Woong Kwon; Kyungshik Roh

doi:10.1109/IROS.2012.6385753

Optimal gait primitives for dynamic bipedal locomotion

Bokman Lim, Jusuk Lee, Joohyung Kim, Minhyung Lee, Hoseong Kwak, Sunggu Kwon, Heekuk Lee, Woong Kwon, Kyungshik Roh

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

Abstract

This paper presents a framework to generate dynamic walking for biped robots. A set of self-stable gait primitives is first constructed. It is done by 1) representing parametric gait primitives, 2) utilizing state-dependent torque control, and 3) doing numerical optimization that takes into account the complex multi-body dynamics with frictional contact forces. Dynamic walking to follow the arbitrary path including a curve is then generated online via sequentially composing primitive motions. Results show that dynamic gaits are humanlike and efficient compared to the conventional knee bent walkers. Our proposed method is applied to a torque-controlled, human-sized biped robot platform, 'Roboray' which is cable-driven partially for joint compliance. Following a discussion on robot design and control, experimental results are also reported.

Original language	English (US)
Title of host publication	2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012
Pages	4013-4018
Number of pages	6
DOIs	https://doi.org/10.1109/IROS.2012.6385753
State	Published - Dec 1 2012
Externally published	Yes
Event	25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012 - Vilamoura, Algarve, Portugal Duration: Oct 7 2012 → Oct 12 2012

Publication series

Name	IEEE International Conference on Intelligent Robots and Systems
ISSN (Print)	2153-0858
ISSN (Electronic)	2153-0866

Other

Other	25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012
Country	Portugal
City	Vilamoura, Algarve
Period	10/7/12 → 10/12/12

ASJC Scopus subject areas

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

Access to Document

10.1109/IROS.2012.6385753

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Cite this

Lim, B., Lee, J., Kim, J., Lee, M., Kwak, H., Kwon, S., Lee, H., Kwon, W., & Roh, K. (2012). Optimal gait primitives for dynamic bipedal locomotion. In 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012 (pp. 4013-4018). [6385753] (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2012.6385753

Optimal gait primitives for dynamic bipedal locomotion. / Lim, Bokman; Lee, Jusuk; Kim, Joohyung; Lee, Minhyung; Kwak, Hoseong; Kwon, Sunggu; Lee, Heekuk; Kwon, Woong; Roh, Kyungshik.

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012. 2012. p. 4013-4018 6385753 (IEEE International Conference on Intelligent Robots and Systems).

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

Lim, B, Lee, J, Kim, J, Lee, M, Kwak, H, Kwon, S, Lee, H, Kwon, W & Roh, K 2012, Optimal gait primitives for dynamic bipedal locomotion. in 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012., 6385753, IEEE International Conference on Intelligent Robots and Systems, pp. 4013-4018, 25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012, Vilamoura, Algarve, Portugal, 10/7/12. https://doi.org/10.1109/IROS.2012.6385753

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