DocumentCode :
165273
Title :
Human-inspired multi-contact locomotion with AMBER2
Author :
Hui-Hua Zhao ; Wen-Loong Ma ; Zeagler, Michael B. ; Ames, A.D.
Author_Institution :
Mech. Eng., Texas A&M Univ., College Station, TX, USA
fYear :
2014
fDate :
14-17 April 2014
Firstpage :
199
Lastpage :
210
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.
Keywords :
control engineering computing; control system synthesis; data analysis; legged locomotion; mechanical contact; motion control; robot dynamics; AMBER2 bipedal robot; controller design; data analysis; dynamic trajectory generation strategy; human locomotion; human-inspired controllers; human-inspired multicontact locomotion; human-like multicontact foot behaviors; human-like multidomain walking; multicontact behavior; multicontact robotic walking gait; optimization methods; software structures; Foot; Hip; Knee; Legged locomotion; Mathematical model; Torso;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Cyber-Physical Systems (ICCPS), 2014 ACM/IEEE International Conference on
Conference_Location :
Berlin
Print_ISBN :
978-1-4799-4931-1
Type :
conf
DOI :
10.1109/ICCPS.2014.6843723
Filename :
6843723
Link To Document :
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