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 proceedingConference 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 languageEnglish (US)
Title of host publication4th RSI International Conference on Robotics and Mechatronics, ICRoM 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages130-135
Number of pages6
ISBN (Electronic)9781509032228
DOIs
StatePublished - Mar 24 2017
Event4th RSI International Conference on Robotics and Mechatronics, ICRoM 2016 - Tehran, Iran, Islamic Republic of
Duration: Oct 26 2016Oct 28 2016

Publication series

Name4th RSI International Conference on Robotics and Mechatronics, ICRoM 2016

Other

Other4th RSI International Conference on Robotics and Mechatronics, ICRoM 2016
CountryIran, Islamic Republic of
CityTehran
Period10/26/1610/28/16

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

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  • 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). [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