Sequential Motion Planning for Bipedal Somersault via Flywheel SLIP and Momentum Transmission with Task Space Control

Xiong, Xiaobin; Ames, Aaron D.

doi:10.1109/iros45743.2020.9341467

“…Xiong et al. [36] proposed a Flywheel SLIP model and realised somersaults via momentum transmission control.…”

Section: Model‐based Gait Control Methodsmentioning

confidence: 99%

An overview on bipedal gait control methods

Hu,

Xie,

Gao

et al. 2023

IET Collab Intel Manufact

4

0

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Bipedal gait control has always been a very challenging issue due to the multi‐joint and non‐linear structure of humanoid robots and frequent robot–environment interactions. To realise stable and robust bipedal walking, many aspects including robot modelling, gait stability and environmental adaptivity should be considered to design the gait control method. In this paper, a general description of bipedal gait and the corresponding evaluation indicators are introduced. Moreover, the existing bipedal gait control methods are classified into model‐based gait, stability criterion‐based gait and learning strategy‐based gait and a comprehensive review is conducted. Finally, the existing challenges and development trends of bipedal gait control are presented.

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“…3). Theoretically speaking, the robot has rotational linkages, which can generate rotational momentum and thus indirectly affect the COM [28], [10], [40], e.g., the angle of a flywheel-inverted pendulum can be controlled via the continuous rotation of the flywheel [41]. However, the joints on robots typically have limited ranges, control bandwidth, and torques in practice.…”

Section: B Foot Underactuation On Bipedal Robotsmentioning

confidence: 99%

3-D Underactuated Bipedal Walking via H-LIP Based Gait Synthesis and Stepping Stabilization

Xiong

¹

,

Ames

²

2022

Self Cite

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In this paper, we present a Hybrid-Linear Inverted Pendulum (H-LIP) based approach for synthesizing and stabilizing 3D underactuated bipedal walking. The H-LIP model is proposed to capture the essential components of the underactuated part and actuated part of the robotic walking. The walking gait of the robot is then synthesized based on the H-LIP. We comprehensively characterize the periodic orbits of the H-LIP and provably derive their stepping stabilization. The step-to-step (S2S) dynamics of the H-LIP is then utilized to approximate the S2S dynamics of the horizontal state of the center of mass (COM) of the robotic walking, which results in a H-LIP based stepping controller to provide desired step sizes to stabilize the robotic walking. By realizing the desired step sizes, the robot achieves dynamic and stable walking. The approach is evaluated in both simulation and experiment on the 3D underactuated bipedal robot Cassie, which demonstrate dynamic walking behaviors with both versatility and robustness.

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“…3). Theoretically speaking, the robot has rotational linkages, which can generate rotational momentum and thus indirectly affect the COM [30], [12], [38], e.g., the angle of a flywheel-inverted pendulum can be controlled via the continuous rotation of the flywheel [39]. However, the joints on robots typically have limited ranges, limited control bandwidth, and torques in practice.…”

Section: B Foot Underactuation On Bipedal Robotsmentioning

confidence: 99%

3D Underactuated Bipedal Walking via H-LIP based Gait Synthesis and Stepping Stabilization

Xiong¹,

Ames²

2021

Preprint

Self Cite

View full text Add to dashboard Cite

In this paper, we present a Hybrid-Linear Inverted Pendulum (H-LIP) based approach for synthesizing and stabilizing 3D underactuated bipedal walking. The H-LIP model is proposed to capture the essential components of the underactuated part and actuated part of the robotic walking. The walking gait of the robot is then synthesized based on the H-LIP. We comprehensively characterize the periodic orbits of the H-LIP and provably derive their stepping stabilization. The step-to-step (S2S) dynamics of the H-LIP is then utilized to approximate the S2S dynamics of the horizontal state of the center of mass (COM) of the robotic walking, which results in a H-LIP based stepping controller to provide desired step sizes to stabilize the robotic walking. By realizing the desired step sizes, the robot achieves dynamic and stable walking. The approach is evaluated in both simulation and experiment on the 3D underactuated bipedal robot Cassie, which demonstrate dynamic walking behaviors with both versatility and robustness.

show abstract

Sequential Motion Planning for Bipedal Somersault via Flywheel SLIP and Momentum Transmission with Task Space Control

Cited by 12 publications

References 34 publications

An overview on bipedal gait control methods

An overview on bipedal gait control methods

3-D Underactuated Bipedal Walking via H-LIP Based Gait Synthesis and Stepping Stabilization

3D Underactuated Bipedal Walking via H-LIP based Gait Synthesis and Stepping Stabilization

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