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Dynamic and Versatile Humanoid Walking via Embedding 3D Actuated SLIP Model with Hybrid LIP Based Stepping

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Document pages: 8 pages

Abstract: In this paper, we propose an efficient approach to generate dynamic andversatile humanoid walking with non-constant center of mass (COM) height. Weexploit the benefits of using reduced order models (ROMs) and stepping controlto generate dynamic and versatile walking motion. Specifically, we apply thestepping controller based on the Hybrid Linear Inverted Pendulum Model (H-LIP)to perturb a periodic walking motion of a 3D actuated Spring Loaded InvertedPendulum (3D-aSLIP), which yields versatile walking behaviors of the 3D-aSLIP,including various 3D periodic walking, fixed location tracking, and globaltrajectory tracking. The 3D-aSLIP walking is then embedded on thefully-actuated humanoid via the task space control on the COM dynamics andground reaction forces. The proposed approach is realized on the robot model ofAtlas in simulation, wherein versatile dynamic motions are generated.

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