Biologically Inspired Deadbeat Control for Running: From Human Analysis to Humanoid Control and Back

Abstract

stepping stones foot trajectories CoM trajectory force profiles Figure 1: Bipedal point-mass model running on 3D stepping stones based on Biologically Inspired Deadbeat (BID) control.

Dynamic Locomotion Through Online Nonlinear Motion Optimization for Quadrupedal Robots

“…In [5], agile running motions have been demonstrated on the humanoid robot Toro [6]. Although the targeted robot platform is topologically different (i.e.…”

Step-to-step variations in human running reveal how humans run without falling

“…This paradigm has been used to argue how passive-elastic properties may reduce muscle work needed for locomotion ( Alexander and Vernon, 1975 ; Alexander, 1990 ) and has been useful in examining locomotion in a simplified setting. Variants of these spring-mass running models have demonstrated stable running ( Seyfarth et al, 2002 ; Seipel and Holmes, 2005 ; Ghigliazza et al, 2005 ; Geyer et al, 2006 ; Srinivasan and Holmes, 2008 ; Englsberger et al, 2016 ). These models have been successful in fitting the average center of mass motion during running ( Blickhan and Full, 1993 ; Geyer et al, 2006 ; Srinivasan and Holmes, 2008 ).…”

Modeling, analysis and control of robot–object nonsmooth underactuated Lagrangian systems: A tutorial overview and perspectives

“…More complex jumping robots with 6 DoF and nonlinear dynamics can be recast directly into (1), see [184,Equations ( 4)- (10)]. The analogy between running bipeds and juggling systems, which both consist of controlling the "object" apex height [185], is clear. Hoppers and jugglers relationships are pointed out in [186,15].…”

“…Dead-beat control τ of the robot is useful in order to assure a desired robot's state (q 2 (t), q2 (t − )) is reached in a desired finite time t, a property which is quite powerful when combined with impacts to impose some desired motion of the object, because it allows the robot to hit the object with pre-specified pre-impact velocities and time (see section 3.1.1). It has been applied in [13,14,313,257,314,185,10,11,210,315,316,210,314,317,176]. Robustness is studied numerically in [13,14,316].…”