Push recovery and online gait generation for 3D bipeds with the foot placement estimator

DeHart, Brandon; Kulić, Dana

doi:10.1109/icra.2014.6907115

Cited by 2 publications

(2 citation statements)

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“…the 2 DOFs of the pendulum are the rotation around the vertical axis, and one of the horizontal axes [11,12]. With the SIP model the problem of gait is intertwined with the estimation in 3-D of the swing foot placement at the collision with the ground (FPE) [13][14][15][16][17]. This has been obtained using energy relationships, observing that the total energy, and the partial derivative of the kinetic energy with respect to the rotational velocity (i.e.…”

Section: Of 14mentioning

confidence: 99%

“…The expressions of section 5 of [18], properly modified in appendix B, for FPE, at difference of [13][14][15][16], are not directly used here at each step; they are exploited to impose a stop at the end of the walk. In closed loop, a perturbation to α is chosen to control the desired step length, to α z to control the desired distance, along the y axis, of the supporting foot, the COG sway and also the offset with respect to the desired baseline in the navigation 1 .…”

Section: The Gaitmentioning

confidence: 99%

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A Novel Paradigm for Controlling Navigation and Walk in Biped Robotics

Menga

2024

Preprint

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Classically the walk in biped robotics was obtained controlling balance during the whole step, i.e. guaranteeing that the pressure point under the soles always stayed in the polygon of the supporting feet. However, this assumed that the feet were able to transfer torque to the ground during the whole gait cycle. In spite of the fact that the amount of transferrable torque in the feet-ground contact is limited, it is possible only during some phases of the step, and the overall process is energetically inefficient. On the other side, starting from the passive motion of the rimless wheel falling on an inclined surface, and ending to the inverted pendulum with a compass, balance in the whole was proven in spite of dynamical instability inside each step. Along this line results of Foot Placement Estimation (FPE) in 2-D and 3-D showed how energy efficient walk was possible, emulating the human walk with a free fall on the swing foot and energy restitution at the foot collision with the ground for the next step. This model assumes pointy feet, so without torque transfer to the ground. In the realm of FPE, in previous papers the present author adopted the 3-D inverted pendulum in polar coordinates (Spherical Inverted Pendulum - SIP) to introduce omnidirectional walks with arbitrarily changing characteristics. No torque control was used during the step, i.e the pendulum was always in free fall at each step, the only control actions were at the beginning of the next step. These actions are: the change of angular velocities at the start of a new step, with respect to those given after the collision (emulating the torque action in the brief double stance period), to recover for the losses, and the preparation of the position in the frontal and sagittal planes of the swing foot for the next collision. The present paper improves this paradigm, proposing a general model to account for all characteristics of the biped and of the gait, with adding a minimum of dynamical complexity with respect to the SIP. This model allows, not only to walk omnidirectionally on a flat surface, but also to go up and down staircases.

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