Experiments in fast biped walking

Buschmann, Thomas; Favot, Valerio; Lohmeier, Sebastian; Schwienbacher, Markus; Ulbrich, H.

doi:10.1109/icmech.2011.5971235

Cited by 22 publications

(19 citation statements)

References 15 publications

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“…However, both Honda and Toyota have shown significantly faster running and Boston Dynamics has shown faster walking with a hydraulic biped (see Ref. [4] for a more detailed discus- Fig. 5 (a) and Ref.…”

Section: Resultsmentioning

confidence: 99%

The Biped Walking Robot Lola

Buschmann

Schwienbacher

Favot

et al. 2012

JRSJ

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Section: Resultsmentioning

confidence: 99%

The Biped Walking Robot Lola

Buschmann

Schwienbacher

Favot

et al. 2012

JRSJ

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“…[24] gives a more precise introduction to the hardware. A detailed overview of the walking controller is given in [25].…”

Section: The Biped Robot Lolamentioning

confidence: 99%

“…The joint angles of the arms are also used to control the CoM position, because there are no reference trajectories. The ideal taskspace reference trajectories w 0 are used as set-points for feedback control which is called in a cycle time ∆t = 2 ms The feedback control [25] stabilizes the robot. For the most part a hybrid position/force control modifies w 0 = w 0 (t k ) resp.ẇ 0 =ẇ 0 (t k ) at t = t k according to sensor data.…”

Section: B Control System Overviewmentioning

confidence: 99%

Real-time pattern generation among obstacles for biped robots

Hildebrandt

Wahrmann

Wittmann

et al. 2015

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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Abstract-In this paper we present a step-planner embedded in a framework which enables a humanoid robot to navigate among obstacles, exploiting its overall capacities. The system allows the robot to react to changes of user input in real-time while walking at reasonable speeds. The proposed method relies neither on external sensors nor on color coding or textured surfaces. The key idea is to use a fast collision model based on swept-sphere-volumes (SSVs) for real-time generation of collision-free footsteps and whole-body trajectories. Using a SSV-based 3D approximation in all control modules enables the robot to avoid collisions with itself and the environment. Obstacles are detected with an on-board RGB-D sensor while the robot navigates through an environment which is not known in advance. A step-planner reacts to high-level user commands like desired velocity and direction within less than a step. Instead of investigating only the footholds an articulated 3D approximation of the lower leg and the foot is considered to find feasible and optimal footstep locations. Additionally, it provides an initial solution for the swing-foot movement. Final, Collision-free swing-foot trajectories are created in real-time in the feedback control layer using all the foot's degrees of freedom. We validated this approach in experiments with our robot Lola.

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“…For further information concerning the motion generation process see [21]. The SSTA is an extension of the step-sequence-planer presented in [21]. It modifies the stance foot positions and swing foot trajectories to obtain an initial solution according to the size of the obstacle's bounding box.…”

Section: A Geometric Representationmentioning

confidence: 99%

“…It is called once before a step. For further information concerning the motion generation process see [21]. The SSTA is an extension of the step-sequence-planer presented in [21].…”

Section: A Geometric Representationmentioning

confidence: 99%

Real-time 3D collision avoidance for biped robots

Hildebrandt¹,

Wittmann²,

Wahrmann³

et al. 2014

2014 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-The ability to avoid collisions is crucial for locomotion in cluttered environments. It is not enough to plan collision-free movements in advance when the environment is dynamic and not precisely known. We developed a new method which generates locally optimized trajectories online during the feedback control in order to dynamically avoid obstacles. This method successfully combines a local potential field method with a heuristic based on height and width of an obstacle to avoid collisions. The program's main feature is the integration of obstacles into the framework designed for self-collision avoidance presented in [1] and the collisions avoidance in taskspace. We show experimental results validating the method.

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Experiments in fast biped walking

Cited by 22 publications

References 15 publications

The Biped Walking Robot Lola

The Biped Walking Robot Lola

Real-time pattern generation among obstacles for biped robots

Real-time 3D collision avoidance for biped robots

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