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dc.contributor.authorHubicki, Christian M.en_US
dc.contributor.authorHereid, Ayongaen_US
dc.contributor.authorGrey, Michael X.en_US
dc.contributor.authorThomaz, Andrea L.en_US
dc.contributor.authorAmes, Aaron D.en_US
dc.date.accessioned2016-08-17T19:50:52Z
dc.date.available2016-08-17T19:50:52Z
dc.date.issued2016-05
dc.identifier.citationHubicki, C. M., Hereid, A., Grey, M. X., Thomaz, A. L., & Ames, A. D. (2016). Work Those Arms: Toward Dynamic and Stable Humanoid Walking That Optimizes Full-Body Motion. 2016 IEEE International Conference on Robotics and Automation (ICRA), Stockholm, 2016, pp. 1552-1559.en_US
dc.identifier.urihttp://hdl.handle.net/1853/55477
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.2016.7487293
dc.description.abstractHumanoid 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.en_US
dc.language.isoen_USen_US
dc.publisherGeorgia Institute of Technologyen_US
dc.subjectDRC-HUBOen_US
dc.subjectDynamic gaitsen_US
dc.subjectDynamic humanoid walkingen_US
dc.subjectHumanoid robotsen_US
dc.subjectHybrid zero dynamicsen_US
dc.subjectHZD+IKen_US
dc.subjectInverse kinematicen_US
dc.titleWork those Arms: Toward Dynamic and Stable Humanoid Walking that Optimizes Full-Body Motionen_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 Interactive Computingen_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.publisher.originalInstitute of Electrical and Electronics Engineersen_US
dc.identifier.doi10.1109/ICRA.2016.7487293en_US


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