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Movement Generation and Control Autonomous Motion Conference Paper 2016

Stepping Stabilization Using a Combination of DCM Tracking and Step Adjustment

Thumb ticker sm herzog medium
Autonomous Motion, Movement Generation and Control
Alexander Herzog
  • Doctoral Researcher
Thumb ticker sm righetti
Movement Generation and Control
Ludovic Righetti
Visiting Researcher
Thumb ticker sm ss
Autonomous Motion
Stefan Schaal
  • Director
Thumb ticker sm majid khadiv
Empirical Inference
Majid Khadiv

In this paper, a method for stabilizing biped robots stepping by a combination of Divergent Component of Motion (DCM) tracking and step adjustment is proposed. In this method, the DCM trajectory is generated, consistent with the predefined footprints. Furthermore, a swing foot trajectory modification strategy is proposed to adapt the landing point, using DCM measurement. In order to apply the generated trajectories to the full robot, a Hierarchical Inverse Dynamics (HID) is employed. The HID enables us to use different combinations of the DCM tracking and step adjustment for stabilizing different biped robots. Simulation experiments on two scenarios for two different simulated robots, one with active ankles and the other with passive ankles, are carried out. Simulation results demonstrate the effectiveness of the proposed method for robots with both active and passive ankles.

Author(s): Khadiv, Majid and Kleff, Sebastien and Herzog, Alexander and Moosavian, S A A and Schaal, Stefan and Righetti, Ludovic
Book Title: 2016 4th International Conference on Robotics and Mechatronics (ICROM)
Pages: 130--135
Year: 2016
Publisher: IEEE
Bibtex Type: Conference Paper (inproceedings)
Address: Teheran, Iran
DOI: 10.1109/ICRoM.2016.7886834
URL: https://arxiv.org/abs/1609.09822
Electronic Archiving: grant_archive

BibTex 

@inproceedings{khadiv_stepping_2016,
  title = {Stepping {Stabilization} {Using} a {Combination} of {DCM} {Tracking} and {Step} {Adjustment}},
  booktitle = {2016 4th {International} {Conference} on {Robotics} and {Mechatronics} ({ICROM})},
  abstract = {In this paper, a method for stabilizing biped robots stepping by a combination of Divergent Component of Motion (DCM) tracking and step adjustment is proposed. In this method, the DCM trajectory is generated, consistent with the predefined footprints. Furthermore, a swing foot trajectory modification strategy is proposed to adapt the landing point, using DCM measurement. In order to apply the generated trajectories to the full robot, a Hierarchical Inverse Dynamics (HID) is employed. The HID enables us to use different combinations of the DCM tracking and step adjustment for stabilizing different biped robots. Simulation experiments on two scenarios for two different simulated robots, one with active ankles and the other with passive ankles, are carried out. Simulation results demonstrate the effectiveness of the proposed method for robots with both active and passive ankles.},
  pages = {130--135},
  publisher = {IEEE},
  address = {Teheran, Iran},
  year = {2016},
  slug = {khadiv_stepping_2016},
  author = {Khadiv, Majid and Kleff, Sebastien and Herzog, Alexander and Moosavian, S A A and Schaal, Stefan and Righetti, Ludovic},
  url = {https://arxiv.org/abs/1609.09822}
}