From Human Walking to Bipedal Robot Locomotion

From Human Walking to Bipedal Robot Locomotion: Reflex Inspired Compensation on Planned and Unplanned Downsteps

Verhagen, J. (Student TU Delft)
Xiong, Xiaobin (California Institute of Technology)
Ames, A. D. (California Institute of Technology)
Seth, A. (TU Delft Biomechatronics & Human-Machine Control)

2022

Humans are able to negotiate downstep behaviors-both planned and unplanned-with remarkable agility and ease. The goal of this paper is to systematically study the translation of this human behavior to bipedal walking robots, even if the morphology is inherently different. Concretely, we begin with human data wherein planned and unplanned downsteps are taken. We analyze this data from the perspective of reduced-order modelling of the human, encoding the center of mass (CoM) kinematics and contact forces, which allows for the translation of these behaviors into the corresponding reduced-order model of a bipedal robot. We embed the resulting behaviors into the full-order dynamics of a bipedal robot via nonlinear optimization-based controllers. The end result is the demonstration of planned and unplanned downsteps in simulation on an underactuated walking robot.

http://resolver.tudelft.nl/uuid:e6bec754-2916-4374-b207-b86b38c7c9bb

https://doi.org/10.1109/IROS47612.2022.9981593

IEEE

2023-07-01

978-1-6654-7927-1

Proceedings 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

The 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022), 2022-10-23 → 2022-10-27, Kyoto, Japan

Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.

Institutional Repository

conference paper

© 2022 J. Verhagen, Xiaobin Xiong, A. D. Ames, A. Seth