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Multi-contact bipedal robotic locomotion

Published online by Cambridge University Press:  02 December 2015

Huihua Zhao ,
Ayonga Hereid ,
Wen-loong Ma  and
Aaron D. Ames
Huihua Zhao*
Affiliation:
School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA, USA. Emails: ayonga27@gatech.edu; wenlongma@gatech.edu
Ayonga Hereid
Affiliation:
School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA, USA. Emails: ayonga27@gatech.edu; wenlongma@gatech.edu
Wen-loong Ma
Affiliation:
School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA, USA. Emails: ayonga27@gatech.edu; wenlongma@gatech.edu
Aaron D. Ames
Affiliation:
School of Mechanical Engineering and the School of Electrical and Computer Engineering, Georgia Institute of Technology, Atlanta, GA, USA. Email: ames@gatech.edu
*
*Corresponding author. E-mail: huihua@gatech.edu
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Summary

This paper presents a formal framework for achieving multi-contact bipedal robotic walking, and realizes this methodology experimentally on two robotic platforms: AMBER2 and Assume The Robot Is A Sphere (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 spring-loaded invert pendulum (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.

Keywords

Bipedal robotic walkingHuman-like locomotionMulti-contact locomotionHybrid zero dynamicsOptimization

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Type
Articles
Information
Robotica , Volume 35 , Issue 5 , May 2017 , pp. 1072 - 1106
Copyright
Copyright © Cambridge University Press 2015 

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