Title:
Realizing Dynamic and Efficient Bipedal Locomotion on the Humanoid Robot DURUS
Realizing Dynamic and Efficient Bipedal Locomotion on the Humanoid Robot DURUS
| dc.contributor.author | Reher, Jacob | en_US |
| dc.contributor.author | Cousineau, Eric A. | en_US |
| dc.contributor.author | Hereid, Ayonga | en_US |
| dc.contributor.author | Hubicki, Christian M. | en_US |
| dc.contributor.author | Ames, Aaron D. | en_US |
| dc.contributor.corporatename | Georgia Institute of Technology. Institute for Robotics and Intelligent Machines | en_US |
| dc.contributor.corporatename | Georgia Institute of Technology. School of Electrical and Computer Engineering | en_US |
| dc.contributor.corporatename | Georgia Institute of Technology. School of Mechanical Engineering | en_US |
| dc.contributor.corporatename | Mathworks | en_US |
| dc.date.accessioned | 2016-08-17T19:06:56Z | |
| dc.date.available | 2016-08-17T19:06:56Z | |
| dc.date.issued | 2016-05 | en_US |
| dc.description | © 2016 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works. | en_US |
| dc.description | DOI: 10.1109/ICRA.2016.7487325 | en_US |
| dc.description.abstract | This paper presents the methodology used to achieve efficient and dynamic walking behaviors on the prototype humanoid robotics platform, DURUS. As a means of providing a hardware platform capable of these behaviors, the design of DURUS combines highly efficient electromechanical components with “control in the loop” design of the leg morphology. Utilizing the final design of DURUS, a formal framework for the generation of dynamic walking gaits which maximizes efficiency by exploiting the full body dynamics of the robot, including the interplay between the passive and active elements, is developed. The gaits generated through this methodology form the basis of the control implementation experimentally realized on DURUS; in particular, the trajectories generated through the formal framework yield a feedforward control input which is modulated by feedback in the form of regulators that compensate for discrepancies between the model and physical system. The end result of the unified approach to control-informed mechanical design, formal gait design and regulator-based feedback control implementation is efficient and dynamic locomotion on the humanoid robot DURUS. In particular, DURUS was able to demonstrate dynamic locomotion at the DRC Finals Endurance Test, walking for just under five hours in a single day, traveling 3.9 km with a mean cost of transport of 1.61-the lowest reported cost of transport achieved on a bipedal humanoid robot. | en_US |
| dc.identifier.citation | Reher, J., Cousineau, E. A., Hereid, A., Hubicki, C. M. & Ames, A. D. (2016). Realizing Dynamic and Efficient Bipedal Locomotion on the Humanoid Robot DURUS. 2016 IEEE International Conference on Robotics and Automation (ICRA), Stockholm, 2016, pp. 1794-1801. | en_US |
| dc.identifier.doi | 10.1109/ICRA.2016.7487325 | en_US |
| dc.identifier.uri | http://hdl.handle.net/1853/55476 | en_US |
| dc.language.iso | en_US | en_US |
| dc.publisher | Georgia Institute of Technology | en_US |
| dc.publisher.original | Institute of Electrical and Electronics Engineers | en_US |
| dc.subject | Bipedal humanoid robot | en_US |
| dc.subject | Bipedal walking | en_US |
| dc.subject | DURUS humanoid robot | en_US |
| dc.subject | Dynamic walking | en_US |
| dc.subject | Gait design | en_US |
| dc.subject | Hybrid zero dynamics | en_US |
| dc.title | Realizing Dynamic and Efficient Bipedal Locomotion on the Humanoid Robot DURUS | en_US |
| dc.type | Text | |
| dc.type.genre | Proceedings | |
| dspace.entity.type | Publication | |
| local.contributor.corporatename | Institute for Robotics and Intelligent Machines (IRIM) | |
| local.contributor.corporatename | Advanced Mechanical Bipedal Experimental Robotics Lab | |
| relation.isOrgUnitOfPublication | 66259949-abfd-45c2-9dcc-5a6f2c013bcf | |
| relation.isOrgUnitOfPublication | 29d75055-4650-4521-943e-7f3cf6efc029 |