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    Work those Arms: Toward Dynamic and Stable Humanoid Walking that Optimizes Full-Body Motion

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    Date
    2016-05
    Author
    Hubicki, Christian M.
    Hereid, Ayonga
    Grey, Michael X.
    Thomaz, Andrea L.
    Ames, Aaron D.
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    Abstract
    Humanoid robots are designed with dozens of actuated joints to suit a variety of tasks, but walking controllers rarely make the best use of all of this freedom. We present a framework for maximizing the use of the full humanoid body for the purpose of stable dynamic locomotion, which requires no restriction to a planning template (e.g. LIPM). Using a hybrid zero dynamics (HZD) framework, this approach optimizes a set of outputs which provides requirements for the motion for all actuated links, including arms. These output equations are then rapidly solved by a whole-body inverse-kinematic (IK) solver, providing a set of joint trajectories to the robot. We apply this procedure to a simulation of the humanoid robot, DRC-HUBO, which has over 27 actuators. As a consequence, the resulting gaits swing their arms, not by a user defining swinging motions a priori or superimposing them on gaits post hoc, but as an emergent behavior from optimizing the dynamic gait. We also present preliminary dynamic walking experiments with DRC-HUBO in hardware, thereby building a case that hybrid zero dynamics as augmented by inverse kinematics (HZD+IK) is becoming a viable approach for controlling the full complexity of humanoid locomotion.
    URI
    http://hdl.handle.net/1853/55477
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    • Advanced Mechanical Bipedal Experimental Robotics Lab (AMBER) [17]
    • Advanced Mechanical Bipedal Experimental Robotics Lab (AMBER) Publications [17]

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