Humanoid locomotion on uneven terrain using the time-varying divergent component of motion

Hopkins, Michael A.; Hong, Dennis; Leonessa, Alexander

doi:10.1109/humanoids.2014.7041371

Cited by 70 publications

(78 citation statements)

References 19 publications

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“…The unstable part is called either the capture point (CP) [9] (the two dimensional point above which the CoM will stop) or the DCM [10] (the three dimensional point at which the CoM will come to rest). First introduced in [11], the time-varying DCM, shown in Fig.1, allows the natural frequency of the LIP, ω 0 , to vary with time, and is defined as…”

Section: B Time-varying Dcm Definitionmentioning

confidence: 99%

“…In [9], Pratt split the CoM dynamics into stable and unstable parts by defining the capture point (CP) as the location above which the CoM will stop. The CP was then extended to its 3D equivalent, the divergent component of motion (DCM) [10] and time-varying DCM [11], enabling planning and tracking in three-dimensions. Feedback control of only the unstable component of the CoM dynamics has been shown to be an effective method for stabilizing walking motions [10][11][12][13][14][15].…”

Section: Introductionmentioning

confidence: 99%

“…The effects of changes in CoM height over uneven terrain are typically not considered in CoP based methods, with notable exceptions in [20][21][22]. To account for these effects, the authors propose a novel formulation of the MPC problem using the time-varying DCM dynamics [11]. This will be done in such a way as to treat the step positions as control inputs.…”

Section: Introductionmentioning

confidence: 99%

“…This paper is organized as follows: Section II reviews the time-varying DCM formulation. Section III reviews the trajectory planning and execution presented in [11]. The proposed MPC formulation is presented in Section IV, proposing methods for the treatment of step positions and rotations as control inputs.…”

Section: Introductionmentioning

confidence: 99%

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Model predictive control for dynamic footstep adjustment using the divergent component of motion

Griffin

Leonessa

2016

2016 IEEE International Conference on Robotics and Automation (ICRA)

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This paper presents an extension of previous model predictive control (MPC) schemes to the stabilization of the time-varying divergent component of motion (DCM). To address the control authority limitations caused by fixed footholds, the step positions and rotations are treated as control inputs, allowing the generation and execution of stable walking motions, both at high speeds and in the face of disturbances. Rotation approximations are handled by applying a mixedinteger program, which, when combined with the use of the time-varying DCM to account for the effects of height changes, improve the versatility of MPC. Simulation results of fast walking and step recovery with the ESCHER humanoid demonstrate the effectiveness of this approach.

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Section: B Time-varying Dcm Definitionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Model predictive control for dynamic footstep adjustment using the divergent component of motion

Griffin

Leonessa

2016

2016 IEEE International Conference on Robotics and Automation (ICRA)

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“…In [8] this idea is extended in order to generate an online dynamic walking pattern for a biped robot by manipulating the virtual repellent point. The work in [7] and [10] use the DCM of a model with variable natural frequency in order to regulate the robot linear and angular momentum for stable standing and walking under external disturbances. Furthermore, the work by [11] is inspired on the optimal regulator in order to design a CoM/CoP controller inspired by the DCM.…”

Section: Introductionmentioning

confidence: 99%

Robot-human balance state transfer during full-body humanoid teleoperation using Divergent Component of Motion dynamics

Ramos

Wang

Kim

2016

2016 IEEE International Conference on Robotics and Automation (ICRA)

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This paper presents the ongoing work towards enabling humanoid robots to achieve dynamic behaviors comparable to humans. By using the concept of Divergent Component of Motion (DCM) first in introduced in [1], the present paper permits operator and robot balance synchronization using the mutual dynamics of the Center of Mass (CoM) and Center of Pressure (CoP). The Linear Inverted Pendulum Model (LIPM) with a reaction mass [2] is utilized to capture the humanoid behavior which interacts with the human operator under the Equilibrium Point (EP) [3] control assumption. Remarkable similarities between the physical system behavior and simulated results suggest the feasibility of the strategy. Experiments conducted with the MIT HERMES humanoid robot further show the performance of the proposed method.

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Team VALOR's ESCHER: A Novel Electromechanical Biped for the DARPA Robotics Challenge

Knabe

Griffin

Burton

et al. 2017

Journal of Field Robotics

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The Electric Series Compliant Humanoid for Emergency Response (ESCHER) platform represents the culmination of four years of development at Virginia Tech to produce a full‐sized force‐controlled humanoid robot capable of operating in unstructured environments. ESCHER's locomotion capability was demonstrated at the DARPA Robotics Challenge (DRC) Finals when it successfully navigated the 61 m loose dirt course. Team VALOR, a Track A team, developed ESCHER leveraging and improving upon bipedal humanoid technologies implemented in previous research efforts, specifically for traversing uneven terrain and sustained untethered operation. This paper presents the hardware platform, software, and control systems developed to field ESCHER at the DRC Finals. ESCHER's unique features include custom linear series elastic actuators in both single and dual actuator configurations and a whole‐body control framework supporting compliant locomotion across variable and shifting terrain. A high‐level software system designed using the robot operating system integrated various open‐source packages and interfaced with the existing whole‐body motion controller. The paper discusses a detailed analysis of challenges encountered during the competition, along with lessons learned that are critical for transitioning research contributions to a fielded robot. Empirical data collected before, during, and after the DRC Finals validate ESCHER's performance in fielded environments.

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Humanoid locomotion on uneven terrain using the time-varying divergent component of motion

Cited by 70 publications

References 19 publications

Model predictive control for dynamic footstep adjustment using the divergent component of motion

Model predictive control for dynamic footstep adjustment using the divergent component of motion

Robot-human balance state transfer during full-body humanoid teleoperation using Divergent Component of Motion dynamics

Team VALOR's ESCHER: A Novel Electromechanical Biped for the DARPA Robotics Challenge

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