Stepping stabilization using a combination of DCM tracking and step adjustment

Majid Khadiv; Sebastien Kleff; Alexander Herzog; S. Ali A. Moosavian; Stefan Schaal; Ludovic Righetti

doi:10.1109/ICRoM.2016.7886834

Stepping stabilization using a combination of DCM tracking and step adjustment

Majid Khadiv, Sebastien Kleff, Alexander Herzog, S. Ali A. Moosavian, Stefan Schaal, Ludovic Righetti

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

In this paper, a method for stabilizing biped robots stepping by a combination of Divergent Component of Motion (DCM) tracking and step adjustment is proposed. In this method, the DCM trajectory is generated, consistent with the predefined footprints. Furthermore, a swing foot trajectory modification strategy is proposed to adapt the landing point, using DCM measurement. In order to apply the generated trajectories to the full robot, a Hierarchical Inverse Dynamics (HID) is employed. The HID enables us to use different combinations of the DCM tracking and step adjustment for stabilizing different biped robots. Simulation experiments on two scenarios for two different simulated robots, one with active ankles and the other with passive ankles, are carried out. Simulation results demonstrate the effectiveness of the proposed method for robots with both active and passive ankles.

Original language	English (US)
Title of host publication	4th RSI International Conference on Robotics and Mechatronics, ICRoM 2016
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	130-135
Number of pages	6
ISBN (Electronic)	9781509032228
DOIs	https://doi.org/10.1109/ICRoM.2016.7886834
State	Published - Mar 24 2017
Event	4th RSI International Conference on Robotics and Mechatronics, ICRoM 2016 - Tehran, Iran, Islamic Republic of Duration: Oct 26 2016 → Oct 28 2016

Publication series

Name	4th RSI International Conference on Robotics and Mechatronics, ICRoM 2016

Other

Other	4th RSI International Conference on Robotics and Mechatronics, ICRoM 2016
Country/Territory	Iran, Islamic Republic of
City	Tehran
Period	10/26/16 → 10/28/16

Keywords

Biped robots
Divergent Component of Motion
Hierarchical inverse dynamics

ASJC Scopus subject areas

Mechanical Engineering
Artificial Intelligence
Control and Systems Engineering
Control and Optimization

Access to Document

10.1109/ICRoM.2016.7886834

Cite this

Khadiv, M., Kleff, S., Herzog, A., Moosavian, S. A. A., Schaal, S., & Righetti, L. (2017). Stepping stabilization using a combination of DCM tracking and step adjustment. In 4th RSI International Conference on Robotics and Mechatronics, ICRoM 2016 (pp. 130-135). Article 7886834 (4th RSI International Conference on Robotics and Mechatronics, ICRoM 2016). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRoM.2016.7886834

Stepping stabilization using a combination of DCM tracking and step adjustment. / Khadiv, Majid; Kleff, Sebastien; Herzog, Alexander et al.
4th RSI International Conference on Robotics and Mechatronics, ICRoM 2016. Institute of Electrical and Electronics Engineers Inc., 2017. p. 130-135 7886834 (4th RSI International Conference on Robotics and Mechatronics, ICRoM 2016).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Khadiv, M, Kleff, S, Herzog, A, Moosavian, SAA, Schaal, S & Righetti, L 2017, Stepping stabilization using a combination of DCM tracking and step adjustment. in 4th RSI International Conference on Robotics and Mechatronics, ICRoM 2016., 7886834, 4th RSI International Conference on Robotics and Mechatronics, ICRoM 2016, Institute of Electrical and Electronics Engineers Inc., pp. 130-135, 4th RSI International Conference on Robotics and Mechatronics, ICRoM 2016, Tehran, Iran, Islamic Republic of, 10/26/16. https://doi.org/10.1109/ICRoM.2016.7886834

Khadiv M, Kleff S, Herzog A, Moosavian SAA, Schaal S, Righetti L. Stepping stabilization using a combination of DCM tracking and step adjustment. In 4th RSI International Conference on Robotics and Mechatronics, ICRoM 2016. Institute of Electrical and Electronics Engineers Inc. 2017. p. 130-135. 7886834. (4th RSI International Conference on Robotics and Mechatronics, ICRoM 2016). doi: 10.1109/ICRoM.2016.7886834

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title = "Stepping stabilization using a combination of DCM tracking and step adjustment",

abstract = "In this paper, a method for stabilizing biped robots stepping by a combination of Divergent Component of Motion (DCM) tracking and step adjustment is proposed. In this method, the DCM trajectory is generated, consistent with the predefined footprints. Furthermore, a swing foot trajectory modification strategy is proposed to adapt the landing point, using DCM measurement. In order to apply the generated trajectories to the full robot, a Hierarchical Inverse Dynamics (HID) is employed. The HID enables us to use different combinations of the DCM tracking and step adjustment for stabilizing different biped robots. Simulation experiments on two scenarios for two different simulated robots, one with active ankles and the other with passive ankles, are carried out. Simulation results demonstrate the effectiveness of the proposed method for robots with both active and passive ankles.",

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AU - Schaal, Stefan

AU - Righetti, Ludovic

PY - 2017/3/24

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N2 - In this paper, a method for stabilizing biped robots stepping by a combination of Divergent Component of Motion (DCM) tracking and step adjustment is proposed. In this method, the DCM trajectory is generated, consistent with the predefined footprints. Furthermore, a swing foot trajectory modification strategy is proposed to adapt the landing point, using DCM measurement. In order to apply the generated trajectories to the full robot, a Hierarchical Inverse Dynamics (HID) is employed. The HID enables us to use different combinations of the DCM tracking and step adjustment for stabilizing different biped robots. Simulation experiments on two scenarios for two different simulated robots, one with active ankles and the other with passive ankles, are carried out. Simulation results demonstrate the effectiveness of the proposed method for robots with both active and passive ankles.

AB - In this paper, a method for stabilizing biped robots stepping by a combination of Divergent Component of Motion (DCM) tracking and step adjustment is proposed. In this method, the DCM trajectory is generated, consistent with the predefined footprints. Furthermore, a swing foot trajectory modification strategy is proposed to adapt the landing point, using DCM measurement. In order to apply the generated trajectories to the full robot, a Hierarchical Inverse Dynamics (HID) is employed. The HID enables us to use different combinations of the DCM tracking and step adjustment for stabilizing different biped robots. Simulation experiments on two scenarios for two different simulated robots, one with active ankles and the other with passive ankles, are carried out. Simulation results demonstrate the effectiveness of the proposed method for robots with both active and passive ankles.

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Stepping stabilization using a combination of DCM tracking and step adjustment

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Keywords

ASJC Scopus subject areas

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