Title:
Work those Arms: Toward Dynamic and Stable Humanoid Walking that Optimizes Full-Body Motion

dc.contributor.author Hubicki, Christian M. en_US
dc.contributor.author Hereid, Ayonga en_US
dc.contributor.author Grey, Michael X. en_US
dc.contributor.author Thomaz, Andrea L. 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 Interactive Computing 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.date.accessioned 2016-08-17T19:50:52Z
dc.date.available 2016-08-17T19:50:52Z
dc.date.issued 2016-05
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.2016.7487293
dc.description.abstract Humanoid robots are designed with dozens of actuated joints to suit a variety of tasks, but walking controllers rarely make the best use of all of this freedom. We present a framework for maximizing the use of the full humanoid body for the purpose of stable dynamic locomotion, which requires no restriction to a planning template (e.g. LIPM). Using a hybrid zero dynamics (HZD) framework, this approach optimizes a set of outputs which provides requirements for the motion for all actuated links, including arms. These output equations are then rapidly solved by a whole-body inverse-kinematic (IK) solver, providing a set of joint trajectories to the robot. We apply this procedure to a simulation of the humanoid robot, DRC-HUBO, which has over 27 actuators. As a consequence, the resulting gaits swing their arms, not by a user defining swinging motions a priori or superimposing them on gaits post hoc, but as an emergent behavior from optimizing the dynamic gait. We also present preliminary dynamic walking experiments with DRC-HUBO in hardware, thereby building a case that hybrid zero dynamics as augmented by inverse kinematics (HZD+IK) is becoming a viable approach for controlling the full complexity of humanoid locomotion. en_US
dc.identifier.citation Hubicki, C. M., Hereid, A., Grey, M. X., Thomaz, A. L., & Ames, A. D. (2016). Work Those Arms: Toward Dynamic and Stable Humanoid Walking That Optimizes Full-Body Motion. 2016 IEEE International Conference on Robotics and Automation (ICRA), Stockholm, 2016, pp. 1552-1559. en_US
dc.identifier.doi 10.1109/ICRA.2016.7487293 en_US
dc.identifier.uri http://hdl.handle.net/1853/55477
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 DRC-HUBO en_US
dc.subject Dynamic gaits en_US
dc.subject Dynamic humanoid walking en_US
dc.subject Humanoid robots en_US
dc.subject Hybrid zero dynamics en_US
dc.subject HZD+IK en_US
dc.subject Inverse kinematic en_US
dc.title Work those Arms: Toward Dynamic and Stable Humanoid Walking that Optimizes Full-Body Motion 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
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