Dynamic Gait Transition of a Humanoid Robot from Hand-Knee Crawling to Bipedal Walking based on Kinematic Primitives

We propose a full-body joint trajectory generation method for dynamic gait transition of a humanoid robot from hand-knee crawling to bipedal walking. Kinematic primitives are extracted from stable walking and crawling. Then candidate joint trajectories of transition are constructed based on the basi...

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Bibliographic Details
Published in2019 IEEE International Conference on Advanced Robotics and its Social Impacts (ARSO) pp. 240 - 245
Main Authors Huang, Yan, Li, Qingqing, Ming, Aiguo, Liu, Yu, Liu, Yaliang, Huang, Qiang
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.10.2019
Subjects
Humanoid robots
Kinematics
Legged locomotion
Robot kinematics
Stability analysis
Trajectory
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Summary:We propose a full-body joint trajectory generation method for dynamic gait transition of a humanoid robot from hand-knee crawling to bipedal walking. Kinematic primitives are extracted from stable walking and crawling. Then candidate joint trajectories of transition are constructed based on the basic patterns and polynomial interpolation with varying parameters. The set of joint trajectories with the largest stability margin is selected as the final transition pattern. The proposed motion planning method is validated on the simulated model of our recently developed humanoid robot BHR-6. A static transition method is used for comparison.
ISSN:2162-7576
DOI:10.1109/ARSO46408.2019.8948746