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 proceedingConference 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 languageEnglish (US)
Title of host publication2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012
Pages4013-4018
Number of pages6
DOIs
StatePublished - Dec 1 2012
Externally publishedYes
Event25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012 - Vilamoura, Algarve, Portugal
Duration: Oct 7 2012Oct 12 2012

Publication series

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

Other

Other25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012
CountryPortugal
CityVilamoura, Algarve
Period10/7/1210/12/12

ASJC Scopus subject areas

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

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