Hostname: page-component-77f85d65b8-2tv5m Total loading time: 0 Render date: 2026-04-20T18:21:11.003Z Has data issue: false hasContentIssue false
  • English
  • Français

Multi-contact bipedal robotic locomotion

Published online by Cambridge University Press:  02 December 2015

Huihua Zhao ,
Ayonga Hereid ,
Wen-loong Ma  and
Aaron D. Ames
Huihua Zhao*
Affiliation:
School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA, USA. Emails: ayonga27@gatech.edu; wenlongma@gatech.edu
Ayonga Hereid
Affiliation:
School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA, USA. Emails: ayonga27@gatech.edu; wenlongma@gatech.edu
Wen-loong Ma
Affiliation:
School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA, USA. Emails: ayonga27@gatech.edu; wenlongma@gatech.edu
Aaron D. Ames
Affiliation:
School of Mechanical Engineering and the School of Electrical and Computer Engineering, Georgia Institute of Technology, Atlanta, GA, USA. Email: ames@gatech.edu
*
*Corresponding author. E-mail: huihua@gatech.edu
Get access Rights & Permissions [Opens in a new window]

Summary

This paper presents a formal framework for achieving multi-contact bipedal robotic walking, and realizes this methodology experimentally on two robotic platforms: AMBER2 and Assume The Robot Is A Sphere (ATRIAS). Inspired by the key feature encoded in human walking—multi-contact behavior—this approach begins with the analysis of human locomotion and uses it to motivate the construction of a hybrid system model representing a multi-contact robotic walking gait. Human-inspired outputs are extracted from reference locomotion data to characterize the human model or the spring-loaded invert pendulum (SLIP) model, and then employed to develop the human-inspired control and an optimization problem that yields stable multi-domain walking. Through a trajectory reconstruction strategy motivated by the process that generates the walking gait, the mathematical constructions are successfully translated to the two physical robots experimentally.

Keywords

Bipedal robotic walkingHuman-like locomotionMulti-contact locomotionHybrid zero dynamicsOptimization

Information

Type
Articles
Information
Robotica , Volume 35 , Issue 5 , May 2017 , pp. 1072 - 1106
Copyright
Copyright © Cambridge University Press 2015 

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

Article purchase

Temporarily unavailable

References

1. Sutherland, D. H., Kaufman, K. R. and Moitoza, J. R., Human Walking (Williams & Wilkins, Baltimore, 1994).Google Scholar
2. Ackermann, M., Dynamics and Energetics of Walking with Prostheses Ph.D. Thesis (Stuttgart: University of Stuttgart, 2007).Google Scholar
3. Inman, V. T. and Hanson, J., “Human Locomotion,” In: Human Walking (Rose, J. and Gamble, J. G., eds.) (Williams & Wilkins, Baltimore, 1994).Google Scholar
4. Kuo, A. D., “Energetics of actively powered locomotion using the simplest walking model,” J. Biomech. Eng. 124 (1), 113–120 (2001).Google Scholar
5. Sellaouti, R., Stasse, O., Kajita, S., Yokoi, K. and Kheddar, A., “Faster and Smoother Walking of Humanoid HRP-2 with Passive Toe Joints,” IEEE/RSJ International Conference on Intelligent Robots and Systems, IEEE, Beijing, China (2006) pp. 4909–4914.Google Scholar
6. Tlalolini, D., Chevallereau, C. and Aoustin, Y., “Comparison of different gaits with rotation of the feet for a planar biped,” Robot. Auton. Syst. 57 (4), 371–383 (2009).CrossRefGoogle Scholar
7. Chevallereau, C., Djoudi, D. and Grizzle, J. W., “Stable bipedal walking with foot rotation through direct regulation of the zero moment point,” IEEE Trans. Robot. 24 (2), 390–401 (2008).Google Scholar
8. Lack, J., Powell, M. J. and Ames, A., “Planar Multi-Contact Bipedal Walking Using Hybrid Zero Dynamics,” Proceedings of IEEE International Conference on Robotics and Automation, IEEE, Hongkong, China (2014) pp. 2582–2588.Google Scholar
9. Handharu, N., Yoon, J. and Kim, G., “Gait Pattern Generation with Knee Stretch Motion for Biped Robot using Toe and Heel Joints,” Proceedings of the 8th IEEE-RAS International Conference on Humanoid Robots, IEEE, Daejeon, Korea (2008) pp. 265–270.Google Scholar
10. Huang, Q., Yokoi, K., Kajita, S., Kaneko, K., Arai, H., Koyachi, N. and Tanie, K., “Planning walking patterns for a biped robot,” IEEE Trans. Robot. Autom. 17, 280–289 (2001).Google Scholar
11. Bessonnet, G., Seguin, P. and Sardain, P., “A parametric optimization approach to walking pattern synthesis,” Int. J. Robot. Res. 24 (7), 523–536 (2005).Google Scholar
12. Nishiwaki, K., Kagami, S., Kuniyoshi, Y., Inaba, M. and Inoue, H., “Toe Joints that Enhance Bipedal and Fullbody Motion of Humanoid Robots,” Proceedings. ICRA '02. IEEE International Conference on Robotics and Automation, IEEE, Washington, DC, USA, vol. 3 (2002) pp. 3105–3110.Google Scholar
13. Li, Z., Vanderborght, B., Tsagarakis, N. and Caldwell, D., “Human-Like Walking with Straightened Knees, Toe-Off and Heel-Strike for the Humanoid Robot iCub,” Control 2010, UKACC International Conference on, IET, Conventry, USA (2010) pp. 1–6.Google Scholar
14. Alcaraz-Jiménez, J. J., Herrero-Pérez, D. and Martínez-Barberá, H., “Robust feedback control of ZMP-based gait for the humanoid robot Nao,” Int. J. Robot. Res. 32 (9–10), 1074–1088 (2013).Google Scholar
15. Mitobe, K., Capi, G. and Nasu, Y., “Control of walking robots based on manipulation of the zero moment point,” Robotica 18 (6), 651–657 (2000).Google Scholar
16. Tlalolini, D., Chevallereau, C. and Aoustin, Y., “Human-like walking: Optimal motion of a bipedal robot with toe-rotation motion,” IEEE/ASME Trans. Mechatronics 16 (2), 310–320 (2011). ISSN .Google Scholar
17. Yadukumar, S. N., Pasupuleti, M. and Ames, A., “From Formal Methods to Algorithmic Implementation of Human Inspired Control on Bipedal Robots,” Proceedings of the 10th International Workshop on the Algorithmic Foundations of Robotics, Springer Berlin Heidelberg, Cambridge, Massachusetts, USA, vol. 86 (2012) pp. 511–526.Google Scholar
18. Zhao, H., Powell, M. and Ames, A., “Human-Inspired Motion Primitives and Transitions for Bipedal Robotic Locomotion in Diverse Terrain,” Optim. Control Appl. Methods 35 (6), 730–755 (2013).CrossRefGoogle Scholar
19. Ma, W., Zhao, H., Kolathaya, S. and Ames, A., “Human-Inspired Walking via Unified PD and Impedance Control,” Proceedings of International Conference on Robotic and Automation, IEEE, Hongkong, China (2014) pp. 5088–5094.Google Scholar
20. Ames, A., Cousineau, E. and Powell, M., “Dynamically Stable Robotic Walking with NAO” via Human-Inspired Hybrid Zero Dynamics,” Proceedings of 15th ACM International Conference on Hybrid Systems: Computation and Control, ACM, New York, NY, USA (2012) pp. 135–44.Google Scholar
21. Zhao, H., Ma, W.-L., Zeagler, M. B. and Ames, A., “Human-Inspired Multi-Contact Locomotion with AMBER2,” Proceedings of ACM/IEEE, International Conference on Cyber Physics System, IEEE, Berlin, Germany (2014) pp. 199–210.Google Scholar
22. Grimes, J. A. and Hurst, J. W., “The Design of ATRIAS 1.0 a Unique Monoped, Hopping Robot,” Proceedings of the 2012 International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, World Scientific Publishing Company, Baltimore, MD, USA (2012) pp. 548–554.Google Scholar
23. Hurst, J., Chestnutt, J. and Rizzi, A., “The Actuator With Mechanically Adjustable Series Compliance,” IEEE Trans. Robot. 26 (4), 597–606 (2010).Google Scholar
24. Ames, A., Vasudevan, R. and Bajcsy, R., “Human-Data Based Cost of Bipedal Robotic Walking,” Proceedings of the 14th International Conference on Hybrid Systems: Computation and Control, ACM, Vienna, Austria (2011) pp. 153–162.Google Scholar
25. Blaya, J. A. and Herr, H., “Adaptive control of a variable-impedance ankle-foot orthosis to assist drop-foot gait,” IEEE Trans. Neural Syst. Rehabil. Eng. 12 (1), 24–31 (2004).Google Scholar
26. Hereid, A., Kolathaya, S., Jones, M., Why, J. V., Hurst, J. and Ames, A., “Dynamic Multi-Domain Bipedal Walking with ATRIAS through SLIP based Human-Inspired Control,” Proceedings of 17th ACM International Conference on Hybrid Systems: Computation and Control, ACM, Berlin, Germany (2014) pp. 263–272.Google Scholar
27. Holmes, P., Full, R., Koditschek, D. and Guckenheimer, J., “The dynamics of legged locomotion: Models, analyses, and Challenges,” SIAM Rev. 48, 207–304 (2006). ISSN .Google Scholar
28. Koepl, D., Kemper, K. and Hurst, J., “Force Control for Spring-Mass Walking and Running,” Proceedings of IEEE/ASME International Conference on Advanced Intelligent Mechatronics, IEEE, Montreal, ON, Canada (2010) pp. 639–644.Google Scholar
29. Rummel, J., Blum, Y., Maus, H. M., Rode, C. and Seyfarth, A., “Stable and Robust Walking with Compliant Legs,” Proceedings of IEEE International Conference on Robotics and Automation, IEEE, Anchorage, AK (2010) pp. 5250–5255.Google Scholar
30. Rezazadeh, S., Hubicki, C., Jones, M., Peekema, A., Van Why, J., Abate, A. & Hurst, J., “Spring-mass walking with ATRIAS in 3D: Robust gait control spanning zero to 4.3 kph on a heavily underactuated bipedal robot,” In the ASME Dynamic Systems and Control Conference (ASME/DSCC) (Oct 2015) Columbus, Ohio, ASME.Google Scholar
31. Ames, A., “Human-inspired control of bipedal walking robots,” IEEE Trans. Autom. Control 59 (5), 1115–1130 (2012).Google Scholar
32. Kolathaya, S., Ma, W. and Ames, A., “Composing Dynamical Systems to Realize Dynamic Robotic Dancing,” Proceedings of International Workshop on the Algorithmic Foundations of Robotics, Springer International Publishing, Boğaziçi University, İstanbul, Turky, (2014) pp. 425–442.Google Scholar
33. Murray, R., Li, Z. and Sastry, S., A Mathematical Introduction to Robotic Manipulation (CRC Press, Boca Raton, 1994).Google Scholar
34. Grizzle, J. W., Chevallereau, C., Sinnet, R. W. and Ames, A. D., “Models, feedback control, and open problems of 3D bipedal robotic walking,” Automatica 50 (8), 1955–1988 (2014).Google Scholar
35. Ames, A., “First steps toward automatically generating bipedal robotic walking from human data,” Robot. Motion Control 422, 89–116 (2011).Google Scholar
36. Sinnet, R., Powell, M., Shah, R. and Ames, A., “A Human-Inspired Hybrid Control Approach to Bipedal Robotic Walking,” Proceedings of 18th IFAC World Congress, IFAC, Milano, Italy (2011) pp. 6904–6911.Google Scholar
37. Westervelt, E., Grizzle, J., Chevallereau, C., Choi, J. and Morris, B., Feedback Control of Dynamic Bipedal Robot Locomotion, (CRC Press, Boca Raton, USA, 2007).Google Scholar
38. Morris, B. and Grizzle, J., “Hybrid Invariance in Bipedal Robots with Series Compliant Actuators,” Proceedings of 45th IEEE Conference on Decision and Control (2006) pp. 4793–4800.Google Scholar
39. Ramezani, A., Hurst, J. W., Hamed, K. A. and Grizzle, J., “Performance analysis and feedback control of ATRIAS, a 3D bipedal robot,” ASME J. Dyn. Syst. Meas. Control 136 (2), 021012 (2012).Google Scholar
40. Zhao, H., Nadubettu Yadukumar, S. and Ames, A., “Bipedal Robotic Running with Partial Hybrid Zero Dynamics and Human-Inspired Optimization,” Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, IEEE, Vilamoura, Algarve, Portugal (2012) pp. 1821–1827.Google Scholar
41. Yadukumar, S. N., Pasupuleti, M. and Ames, A., “Human-Inspired Underactuated Bipedal Robotic Walking with AMBER on Flat-ground, Up-slope and Uneven Terrain,” IEEE International Conference on Intelligent Robots and Systems, IEEE, Vilamoura, Algarve, Portugal (2012).Google Scholar
42. Sastry, S., Nonlinear Systems: Analysis, Stability and Control (Springer, New York, 1999).Google Scholar
43. Ames, A., Galloway, K., Grizzle, J. and Sreenath, K., “Rapidly exponentially stabilizing control lyapunov functions and hybrid zero dynamics,” IEEE Trans. Autom. Control 59 (4), 876–891 (2012).Google Scholar
44. Morris, B. and Grizzle, J., “A Restricted Poincaré Map for Determining Exponentially Stable Periodic Orbits in Systems with Impulse Effects: Application to Bipedal Robots,” IEEE Conference on Decision and Control, IEEE, Seville, Spain (2005) pp. 4199–4206.Google Scholar
45. Hürmüzlü, Y. and Marghitu, D. B., “Rigid body collisions of planar kinematic chains with multiple contact points,” IJRR 13 (1), 82–92 (1994).Google Scholar
46. McGeer, T., “Passive dynamic walking,” IJRR 9 (2), 62–82 (1990).Google Scholar
Supplementary material: File

Zhao supplementary material

Zhao supplementary material 1

Download Zhao supplementary material(File)
File 5.2 MB