From Human Walking to Bipedal Robot Locomotion: Reflex Inspired Compensation on Planned and Unplanned Downsteps

J. Verhagen, Xiaobin Xiong, A. D. Ames, A. Seth

Research output: Chapter in Book/Conference proceedings/Edited volumeConference contributionScientificpeer-review

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Abstract

Humans are able to negotiate downstep behaviors-both planned and unplanned-with remarkable agility and ease. The goal of this paper is to systematically study the translation of this human behavior to bipedal walking robots, even if the morphology is inherently different. Concretely, we begin with human data wherein planned and unplanned downsteps are taken. We analyze this data from the perspective of reduced-order modelling of the human, encoding the center of mass (CoM) kinematics and contact forces, which allows for the translation of these behaviors into the corresponding reduced-order model of a bipedal robot. We embed the resulting behaviors into the full-order dynamics of a bipedal robot via nonlinear optimization-based controllers. The end result is the demonstration of planned and unplanned downsteps in simulation on an underactuated walking robot.
Original languageEnglish
Title of host publicationProceedings 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
PublisherIEEE
Pages5226-5233
ISBN (Print)978-1-6654-7927-1
DOIs
Publication statusPublished - 2022
EventThe 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022): IROS 2022 - Kyoto, Japan
Duration: 23 Oct 202227 Oct 2022

Conference

ConferenceThe 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022)
Abbreviated titleIROS 2022
Country/TerritoryJapan
CityKyoto
Period23/10/2227/10/22

Bibliographical note

Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care
Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.

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