TY - GEN
T1 - A unified framework for walking and running of bipedal robots
AU - Boroujeni, Mahrokh Ghoddousi
AU - Daneshman, Elham
AU - Righetti, Ludovic
AU - Khadiv, Majid
N1 - Funding Information:
This work was supported by the Max-Planck Institute for Intelligent Systems Grassroots program (M10338 and M10343), New York University, the European Union s Horizon 2020 research and innovation program (grant agreement 780684) and the National Science Foundation (CMMI-1825993).
Funding Information:
This work was supported by the Max-Planck Institute for Intelligent Systems’ Grassroots program (M10338 and M10343), New York University, the European Union’s Horizon 2020 research and innovation program (grant agreement 780684) and the National Science Foundation (CMMI-1825993). ∗ Authors equally contributed to this work. 1 Institute of Mechanical Engineering, École Polytechnique Fédérale de Lausanne (EPFL), Switzerland. 2Max Planck Institute for Intelligent Systems, Tübingen, Germany. 3 Tandon School of Engineering, New York University, Brooklyn, USA.
Publisher Copyright:
© 2021 IEEE.
PY - 2021
Y1 - 2021
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=85124691938&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85124691938&partnerID=8YFLogxK
U2 - 10.1109/ICAR53236.2021.9659392
DO - 10.1109/ICAR53236.2021.9659392
M3 - Conference contribution
AN - SCOPUS:85124691938
T3 - 2021 20th International Conference on Advanced Robotics, ICAR 2021
SP - 396
EP - 403
BT - 2021 20th International Conference on Advanced Robotics, ICAR 2021
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 20th International Conference on Advanced Robotics, ICAR 2021
Y2 - 6 December 2021 through 10 December 2021
ER -