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dc.contributor.authorReher, Jacoben_US
dc.contributor.authorCousineau, Eric A.en_US
dc.contributor.authorHereid, Ayongaen_US
dc.contributor.authorHubicki, Christian M.en_US
dc.contributor.authorAmes, Aaron D.en_US
dc.date.accessioned2016-08-17T19:06:56Z
dc.date.available2016-08-17T19:06:56Z
dc.date.issued2016-05en_US
dc.identifier.citationReher, J., Cousineau, E. A., Hereid, A., Hubicki, C. M. & Ames, A. D. (2016). Realizing Dynamic and Efficient Bipedal Locomotion on the Humanoid Robot DURUS. 2016 IEEE International Conference on Robotics and Automation (ICRA), Stockholm, 2016, pp. 1794-1801.en_US
dc.identifier.urihttp://hdl.handle.net/1853/55476en_US
dc.description© 2016 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works.en_US
dc.descriptionDOI: 10.1109/ICRA.2016.7487325en_US
dc.description.abstractThis paper presents the methodology used to achieve efficient and dynamic walking behaviors on the prototype humanoid robotics platform, DURUS. As a means of providing a hardware platform capable of these behaviors, the design of DURUS combines highly efficient electromechanical components with “control in the loop” design of the leg morphology. Utilizing the final design of DURUS, a formal framework for the generation of dynamic walking gaits which maximizes efficiency by exploiting the full body dynamics of the robot, including the interplay between the passive and active elements, is developed. The gaits generated through this methodology form the basis of the control implementation experimentally realized on DURUS; in particular, the trajectories generated through the formal framework yield a feedforward control input which is modulated by feedback in the form of regulators that compensate for discrepancies between the model and physical system. The end result of the unified approach to control-informed mechanical design, formal gait design and regulator-based feedback control implementation is efficient and dynamic locomotion on the humanoid robot DURUS. In particular, DURUS was able to demonstrate dynamic locomotion at the DRC Finals Endurance Test, walking for just under five hours in a single day, traveling 3.9 km with a mean cost of transport of 1.61-the lowest reported cost of transport achieved on a bipedal humanoid robot.en_US
dc.language.isoen_USen_US
dc.publisherGeorgia Institute of Technologyen_US
dc.subjectBipedal humanoid roboten_US
dc.subjectBipedal walkingen_US
dc.subjectDURUS humanoid roboten_US
dc.subjectDynamic walkingen_US
dc.subjectGait designen_US
dc.subjectHybrid zero dynamicsen_US
dc.titleRealizing Dynamic and Efficient Bipedal Locomotion on the Humanoid Robot DURUSen_US
dc.typeProceedingsen_US
dc.contributor.corporatenameGeorgia Institute of Technology. Institute for Robotics and Intelligent Machinesen_US
dc.contributor.corporatenameGeorgia Institute of Technology. School of Electrical and Computer Engineeringen_US
dc.contributor.corporatenameGeorgia Institute of Technology. School of Mechanical Engineeringen_US
dc.contributor.corporatenameMathworksen_US
dc.publisher.originalInstitute of Electrical and Electronics Engineersen_US
dc.identifier.doi10.1109/ICRA.2016.7487325en_US


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