Title:
Multi-Contact Bipedal Robotic Locomotion
Multi-Contact Bipedal Robotic Locomotion
Author(s)
Zhao, Huihua
Herei, Ayonga
Ma, Wen-loong
Ames, Aaron D.
Herei, Ayonga
Ma, Wen-loong
Ames, Aaron D.
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Abstract
This paper presents a formal framework for achieving multi-contact bipedal robotic walking, and realizes this methodology
experimentally on two robotic platforms: AMBER2 and ATRIAS. Inspired by the key feature encoded in human walking—
multi-contact behavior—this approach begins with the analysis of human locomotion and uses it to motivate the construction of
a hybrid system model representing a multi-contact robotic walking gait. Human-inspired outputs are extracted from reference
locomotion data to characterize the human model or the SLIP model, and then employed to develop the human-inspired control
and an optimization problem that yields stable multi-domain walking. Through a trajectory reconstruction strategy motivated by
the process that generates the walking gait, the mathematical constructions are successfully translated to the two physical robots
experimentally.
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Date Issued
2015
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Article