Gait generation via the Foot Placement Estimator for 3D bipedal robots

This paper proposes a trajectory generation and control strategy for generating stable gait subject to unknown disturbances, based on the concept of the Foot Placement Estimator (FPE). While most walking control strategies in the field of bipedal locomotion aim to constantly maintain balance, the Fo...

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Bibliographic Details
Published in2013 IEEE International Conference on Robotics and Automation pp. 5689 - 5695
Main Authors Choudhury, Safwan, Kulic, Dana
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.05.2013
Subjects
Bipedal Locomotion
Equations
Foot
Foot Placement
Gait Synthesis
Joints
Legged locomotion
Three-dimensional displays
Trajectory
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ISBN1467356417
9781467356411
ISSN1050-4729
DOI10.1109/ICRA.2013.6631395

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Summary:This paper proposes a trajectory generation and control strategy for generating stable gait subject to unknown disturbances, based on the concept of the Foot Placement Estimator (FPE). While most walking control strategies in the field of bipedal locomotion aim to constantly maintain balance, the Foot Placement Estimator (FPE) estimates where the foot must be placed in order to restore balance. One of the key novelties of the FPE approach is its natural extension to form complete gait cycles using a state machine and simple proportional-derivative controllers. In this paper, the FPE control strategy is extended from 2D to 3D robots, and demonstrated in simulation on a 14-DOF lower body bipedal robot.
ISBN:1467356417
9781467356411
ISSN:1050-4729
DOI:10.1109/ICRA.2013.6631395