Step timing adjustment: A step toward generating robust gaits

Majid Khadiv, Alexander Herzog, S. Ali A. Moosavian, Ludovic Righetti

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

Abstract

Step adjustment for humanoid robots has been shown to improve robustness in gaits. However, step duration adaptation is often neglected in control strategies. In this paper, we propose an approach that combines both step location and timing adjustment for generating robust gaits. In this approach, step location and step timing are decided, based on feedback from the current state of the robot. The proposed approach is comprised of two stages. In the first stage, the nominal step location and step duration for the next step or a previewed number of steps are specified. In this stage which is done at the start of each step, the main goal is to specify the best step length and step duration for a desired walking speed. The second stage deals with finding the best landing point and landing time of the swing foot at each control cycle. In this stage, stability of the gaits is preserved by specifying a desired offset between the swing foot landing point and the Divergent Component of Motion (DCM) at the end of current step. After specifying the landing point of the swing foot at a desired time, the swing foot trajectory is regenerated at each control cycle to realize desired landing properties. Simulation on different scenarios shows the robustness of the generated gaits from our proposed approach compared to the case where no timing adjustment is employed.

Original languageEnglish (US)
Title of host publicationHumanoids 2016 - IEEE-RAS International Conference on Humanoid Robots
PublisherIEEE Computer Society
Pages35-42
Number of pages8
ISBN (Electronic)9781509047185
DOIs
StatePublished - Dec 30 2016
Event16th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2016 - Cancun, Mexico
Duration: Nov 15 2016Nov 17 2016

Publication series

NameIEEE-RAS International Conference on Humanoid Robots
ISSN (Print)2164-0572
ISSN (Electronic)2164-0580

Other

Other16th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2016
CountryMexico
CityCancun
Period11/15/1611/17/16

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Hardware and Architecture
  • Human-Computer Interaction
  • Electrical and Electronic Engineering

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  • Cite this

    Khadiv, M., Herzog, A., Moosavian, S. A. A., & Righetti, L. (2016). Step timing adjustment: A step toward generating robust gaits. In Humanoids 2016 - IEEE-RAS International Conference on Humanoid Robots (pp. 35-42). [7803251] (IEEE-RAS International Conference on Humanoid Robots). IEEE Computer Society. https://doi.org/10.1109/HUMANOIDS.2016.7803251