Energy Management Through Footstep Selection For Bipedal Robots

Crews, Steven; Travers, Matthew

doi:10.1109/lra.2020.3003235

Cited by 12 publications

(6 citation statements)

References 32 publications

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“…Compliant walking controllers enhance navigation in challenging terrains [86], bridging the gap between robots and authentic bipedal locomotion for enhanced stability and efficiency [87]. Features such as the six degree of freedom (DOF) parallel link mechanism improve leg inertia and position tracking at higher frequencies [42], [87]. Current research focuses on refining robotic locomotion across irregular terrains [43].…”

Section: Stability and Locomotion In Bipedal Wheel-legged Robotsmentioning

confidence: 99%

“…While methods like MPC excel in precise vehicular trajectory control [88], challenges arise in scenarios with abrupt changes. Strategies like heuristic landing planners, dynamic foot positioning, and preference-driven controller optimization have enhanced robot efficiency [42], [89]. Additionally, advanced control frameworks like force-and-moment-based MPC and model hierarchy predictive control (MHPC), along with innovations like sensor-based active elastic hip joints and spring-based passive elastic knee/ankle joints, promise to optimize robotic stability and movements [44], [64].…”

Section: Stability and Locomotion In Bipedal Wheel-legged Robotsmentioning

confidence: 99%

See 1 more Smart Citation

Evolution, Design, and Future Trajectories on Bipedal Wheel-legged Robot: A Comprehensive Review

Mansor,

Irawan,

Abas

2023

IJRCS

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This comprehensive review delves into the realm of bipedal wheel-legged robots, focusing on their design, control, and applications in assistive technology and disaster mitigation. Drawing insights from various fields such as robotics, computer science, and biomechanics, it offers a holistic understanding of these robots' stability, adaptability, and efficiency. The analysis encompasses optimization techniques, sensor integration, machine learning, and adaptive control methods, evaluating their impact on robot capabilities. Emphasizing the need for adaptable, terrain-aware control algorithms, the review explores the untapped potential of machine learning and soft robotics in enhancing performance across diverse operational scenarios. It highlights the advantages of hybrid models combining legged and wheeled mobility while stressing the importance of refining control frameworks, trajectory planning, and human-robot interactions. The concept of integrating soft and compliant mechanisms for improved adaptability and resilience is introduced. Identifying gaps in current research, the review suggests future directions for investigation in the fields of robotics and control engineering, addressing the evolution and terrain adaptability of bipedal wheel-legged robots, control, stability, and locomotion, as well as integrated sensory and perception systems, microcontrollers, cutting-edge technology, and future design and control directions.

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Section: Stability and Locomotion In Bipedal Wheel-legged Robotsmentioning

confidence: 99%

Section: Stability and Locomotion In Bipedal Wheel-legged Robotsmentioning

confidence: 99%

Evolution, Design, and Future Trajectories on Bipedal Wheel-legged Robot: A Comprehensive Review

Mansor,

Irawan,

Abas

2023

IJRCS

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“…• The support leg does not have enough kinetic energy to vault over the apex point where the model falls back (Crews and Travers 2020). • The model violates GRF constraints during locomotion phases.…”

Section: Tolerance To Single-step Terrain Disturbancementioning

confidence: 99%

“…Then, by applying terrain disturbances to the openloop limit cycles, we determine the features of these cycles, enabling larger terrain disturbances. Consequently, motivated by the effectiveness of once-perstep control (Kim and Collins 2017) and energy management of biped locomotion (Crews and Travers 2020), we introduce a novel control mechanism that regulates the configuration and speed of the model by adjusting the precompression of the rotary ankle spring via energy feedback. The model is controlled only during the DS phase (once-per-step energy input through the ankle spring), allowing to benefit from the passive dynamics during the single stance phase.…”

Section: Introductionmentioning

confidence: 99%

Efficient bipedal locomotion on rough terrain via compliant ankle actuation with energy regulation

et al. 2021

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Legged locomotion enables robotic platforms to traverse on rough terrain, which is quite challenging for other locomotion types, such as in wheeled and tracked systems. However, this benefit-moving robustly on rough terrain-comes with an inherent drawback due to the higher cost of transport in legged robots. The ultimate need for energy efficiency motivated the utilization of passive dynamics in legged locomotion. Nevertheless, a handicap in passive dynamic walking is the fragile basin of attraction that limits the locomotion capabilities of such systems. There have been various extensions to overcome such limitations by incorporating additional actuators and active control approaches at the expense of compromising the benefits of passivity. Here, we present a novel actuation and control framework, enabling efficient and sustained bipedal locomotion on significantly rough terrain. The proposed approach reinforces the passive dynamics by intermittent active feedback control within a bio-inspired compliant ankle actuation framework. Specifically, we use once-per-step energy regulation to adjust the spring precompression of the compliant ankle based on the liftoff instants-when the toe liftoffs from the ground-of the locomotion. Our results show that the proposed approach achieves highly efficient (with a cost of transport of 0.086) sustained locomotion on rough terrain, withstanding height variations up to 15% of the leg length. We provide theoretical and numerical analysis to demonstrate the performance of our approach, including systematic comparisons with the recent and state-of-the-art techniques in the literature.

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“…There are various strategies for footstep selection. For example, there are methods of generating footstep reflecting joystick input commands [ 4 ], placing footstep controlling system energy for stable walking [ 5 ], and generating autonomous paths using planes detected by vision sensors. In addition, studies on an optimization-based path planner approach are being conducted [ 6 , 7 ].…”

Section: Introductionmentioning

confidence: 99%

Strategies for Generating Footsteps of Biped Robots in Narrow Sight

Yoon

Cho

2022

Sensors

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In this paper, we present a strategy for a legged robot to stably cross cinder blocks with a limited area acquired from a camera. First, we used the point cloud acquired from the camera to detect the planes and calculate their centroids and directions. This information was used to determine the position and direction of the foot to which the robot should go. Existing A*-based footstep planners require a global map to reach the goal from the start and do not generate a path if there is no solution to the goal due to completeness of A*. In addition, if the map is not updated while moving the path, it is vulnerable to changes in the object position. Our strategy calculates the footsteps that the robot can walk in a limited camera area without securing a global map. In addition, it updates the local map information every walking step so that it quickly recognizes nearby objects and finds a path that can move. While the robot is walking, objects may not be detected due to the narrow camera field of view. In addition, even if an area for the robot to land is found, a situation in which the robot’s legs collide may occur. We present a strategy to solve this problem using previous landing data. In the experimental environment composed of several patterns, the performance was verified by stably walking on the blocks without collision between the robot’s legs.

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Energy Management Through Footstep Selection For Bipedal Robots

Cited by 12 publications

References 32 publications

Evolution, Design, and Future Trajectories on Bipedal Wheel-legged Robot: A Comprehensive Review

Evolution, Design, and Future Trajectories on Bipedal Wheel-legged Robot: A Comprehensive Review

Efficient bipedal locomotion on rough terrain via compliant ankle actuation with energy regulation

Strategies for Generating Footsteps of Biped Robots in Narrow Sight

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