Quintic Spline Collocation for Real-Time Biped Walking-Pattern Generation with variable Torso Height

Seiwald, Philipp; Sygulla, Felix; Staufenberg, Nora-Sophie; Rixen, Daniel J.

doi:10.1109/humanoids43949.2019.9035076

Cited by 10 publications

(13 citation statements)

References 34 publications

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“…For details we refer the reader to [12], [13]. The simulation software also includes instances of the Walking Pattern Generator (WPG) [14] and the Stabilization and Inverse Kinematics (SIK) [15] modules to control the humanoid in its virtual environment. For a typical simulation run, highlevel commands are sent to the WPG module to have the robot execute a certain movement (e.g.…”

Section: Simulation Environment and Datasetmentioning

confidence: 99%

Learning the Noise of Failure: Intelligent System Tests for Robots

Sygulla¹,

Rixen²

2021

Preprint

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Roboticists usually test new control software in simulation environments before evaluating its functionality on real-world robots. Simulations reduce the risk of damaging the hardware and can significantly increase the development process's efficiency in the form of automated system tests.However, many flaws in the software remain undetected in simulation data, revealing their harmful effects on the system only in time-consuming experiments. In reality, such irregularities are often easily recognized solely by the robot's airborne noise during operation. We propose a simulated noise estimate for the detection of failures in automated system tests of robots. The classification of flaws uses classical machine learning -a support vector machine -to identify different failure classes from the scalar noise estimate.The methodology is evaluated on simulation data from the humanoid robot LOLA. The approach yields high failure detection accuracy with a low false-positive rate, enabling its use for stricter automated system tests. Results indicate that a single trained model may work for different robots. The proposed technique is provided to the community in the form of the open-source tool NoisyTest, making it easy to test data from any robot. In a broader scope, the technique may empower real-world automated system tests without human evaluation of success or failure.

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Section: Simulation Environment and Datasetmentioning

confidence: 99%

Learning the Noise of Failure: Intelligent System Tests for Robots

Sygulla¹,

Rixen²

2021

Preprint

Self Cite

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“…. The proposed algorithm is used within the walking pattern generation framework of LOLA, see [13] for details. The robot is 1.8 m tall and weights about 60 kg.…”

Section: Motivationmentioning

confidence: 99%

“…Explaining the technical details of the walking pattern generation framework of LOLA goes beyond the scope of this paper. Instead, the interested reader is referred to [13], in which the application of the proposed algorithm is presented. The publication [13] comes with an accompanying video, see [14], which visualizes the sequential steps of the walking pattern generation pipeline of LOLA.…”

Section: Motivationmentioning

confidence: 99%

“…Instead, the interested reader is referred to [13], in which the application of the proposed algorithm is presented. The publication [13] comes with an accompanying video, see [14], which visualizes the sequential steps of the walking pattern generation pipeline of LOLA. The simulations and experiments presented in the video show the successful application of our algorithm.…”

Section: Motivationmentioning

confidence: 99%

“…Lastly, we point out that although (62) describes a very simple system, we also successfully applied the proposed algorithm to the much more complex walking-pattern generation system of our humanoid robot LOLA, cf. [13]. However, the properties and characteristics of the proposed method can be better investigated and explained by means of a less complex test system.…”

Section: Test Systemmentioning

confidence: 99%

See 2 more Smart Citations

Fast Approximation of Over-Determined Second-Order Linear Boundary Value Problems by Cubic and Quintic Spline Collocation

Seiwald

Rixen

2020

Robotics

Self Cite

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We present an efficient and generic algorithm for approximating second-order linear boundary value problems through spline collocation. In contrast to the majority of other approaches, our algorithm is designed for over-determined problems. These typically occur in control theory, where a system, e.g., a robot, should be transferred from a certain initial state to a desired target state while respecting characteristic system dynamics. Our method uses polynomials of maximum degree three/five as base functions and generates a cubic/quintic spline, which is C 2 / C 4 continuous and satisfies the underlying ordinary differential equation at user-defined collocation sites. Moreover, the approximation is forced to fulfill an over-determined set of two-point boundary conditions, which are specified by the given control problem. The algorithm is suitable for time-critical applications, where accuracy only plays a secondary role. For consistent boundary conditions, we experimentally validate convergence towards the analytic solution, while for inconsistent boundary conditions our algorithm is still able to find a “reasonable” approximation. However, to avoid divergence, collocation sites have to be appropriately chosen. The proposed scheme is evaluated experimentally through comparison with the analytical solution of a simple test system. Furthermore, a fully documented C++ implementation with unit tests as example applications is provided.

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The effect of active leg swing on walking template model dynamics

Renjewski

2024

Proc Appl Math and Mech

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Some reductionist models match human walking dynamics surprisingly well. For reasons of simplicity, the swing leg and its dynamics have been neglected in the past. A dynamic effect would, however, be expected of the high acceleration and deceleration required to recirculate approximately 15% of the entire body mass during the very short swing phase. This paper documents the investigation of the effect of a simplified swing leg on the dynamics of a reductionist walking model. The findings suggest the dynamic decoupling of the swing leg and the remaining body.

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Quintic Spline Collocation for Real-Time Biped Walking-Pattern Generation with variable Torso Height

Cited by 10 publications

References 34 publications

Learning the Noise of Failure: Intelligent System Tests for Robots

Learning the Noise of Failure: Intelligent System Tests for Robots

Fast Approximation of Over-Determined Second-Order Linear Boundary Value Problems by Cubic and Quintic Spline Collocation

The effect of active leg swing on walking template model dynamics

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