Movement primitives for three-legged locomotion over uneven terrain

We propose a framework for online generation of efficient gaits on uneven terrain. A set of dynamically optimal leg swing motion primitives for irregular terrains is first constructed offline-this is done by generating minimum torque motions for various starting and ending ground configurations, ext...

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Bibliographic Details
Main Authors: Lim, Bokman, Kim, Beobkyoon, Park, F.C., Hong, D.W.
Format: Conference Proceeding
Language:English
Subjects:
Foot
Humanoid robots
Humans
Interpolation
Leg
Legged locomotion
Principal component analysis
Robot sensing systems
Robotics and automation
Torque
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Summary:We propose a framework for online generation of efficient gaits on uneven terrain. A set of dynamically optimal leg swing motion primitives for irregular terrains is first constructed offline-this is done by generating minimum torque motions for various starting and ending ground configurations, extracting dominant principal components, and forming basis functions. Gaits are then generated online via linear interpolation of the principal component basis functions, using a distance metric on SO(3) to select the components. The algorithm is verified via dynamic simulations involving the STriDER, a three legged passive-walking robot. Our results show that gaits using only knee-actuated leg swings are able to traverse uneven terrain of bounded variation.
ISSN:1050-4729
2577-087X
DOI:10.1109/ROBOT.2009.5152693