Dynamic Humanoid Locomotion: A Scalable Formulation for HZD Gait Optimization
| Autor: | Aaron D. Ames, Ayonga Hereid, Eric A. Cousineau, Christian Hubicki |
|---|---|
| Rok vydání: | 2018 |
| Předmět: |
0209 industrial biotechnology
Collocation Computer science Underactuation Process (engineering) Reliability (computer networking) Control engineering 02 engineering and technology Degrees of freedom (mechanics) Gait Computer Science Applications Set (abstract data type) 020901 industrial engineering & automation Control and Systems Engineering Scalability 0202 electrical engineering electronic engineering information engineering 020201 artificial intelligence & image processing Electrical and Electronic Engineering |
| Zdroj: | IEEE Transactions on Robotics. 34:370-387 |
| ISSN: | 1941-0468 1552-3098 |
| DOI: | 10.1109/tro.2017.2783371 |
| Popis: | Hybrid zero dynamics (HZD) has emerged as a popular framework for dynamic walking but has significant implementation difficulties when applied to the high degrees of freedom humanoids. The primary impediment is the process of gait design—it is difficult for optimizers to converge on a viable set of virtual constraints defining a gait. This paper presents a methodology that allows for fast and reliable generation of dynamic robotic walking gaits through the HZD framework, even in the presence of underactuation. Specifically, we describe an optimization formulation that builds upon the novel combination of HZD and direct collocation methods. Furthermore, achieving a scalable implementation required developing a defect-variable substitution formulation to simplify expressions, which ultimately allows us to generate compact analytic Jacobians of the constraints. We experimentally validate our methodology on an underactuated humanoid, DURUS, a spring-legged machine designed to facilitate energy-economical walking. We show that the optimization approach, in concert with the HZD framework, yields dynamic and stable walking gaits in hardware with a total electrical cost of transport of 1.33. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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