A unified framework for walking and running of bipedal robots

Mahrokh Ghoddousi Boroujeni, Elham Daneshman, Ludovic Righetti, Majid Khadiv

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this paper, we propose a novel framework capable of generating various walking and running gaits for bipedal robots. The main goal is to relax the fixed center of mass (CoM) height assumption of the linear inverted pendulum model (LIPM) and generate a wider range of walking and running motions, without a considerable increase in complexity. To do so, we use the concept of virtual constraints in the centroidal space which enables generating motions beyond walking while keeping the complexity at a minimum. By a proper choice of these virtual constraints, we show that we can generate different types of walking and running motions. More importantly, enforcing the virtual constraints through feedback renders the dynamics linear and enables us to design a feedback control mechanism which adapts the next step location and timing in face of disturbances, through a simple quadratic program (QP). To show the effectiveness of this framework, we showcase different walking and running simulations of the biped robot Bolt in the presence of both environmental uncertainties and external disturbances.

Original languageEnglish (US)
Title of host publication2021 20th International Conference on Advanced Robotics, ICAR 2021
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages396-403
Number of pages8
ISBN (Electronic)9781665436847
DOIs
StatePublished - 2021
Event20th International Conference on Advanced Robotics, ICAR 2021 - Ljubljana, Slovenia
Duration: Dec 6 2021Dec 10 2021

Publication series

Name2021 20th International Conference on Advanced Robotics, ICAR 2021

Conference

Conference20th International Conference on Advanced Robotics, ICAR 2021
Country/TerritorySlovenia
CityLjubljana
Period12/6/2112/10/21

ASJC Scopus subject areas

  • Artificial Intelligence
  • Human-Computer Interaction
  • Software

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