NDLI: Human-Inspired Multi-Contact Locomotion with AMBER2

Content Provider	ACM Digital Library
Author	Zhao, Hui-Hua Zeagler, Michael B. Ames, Aaron D. Ma, Wen-Loong
Abstract	This paper presents a methodology for translating a key feature encoded in human locomotion --- multi-contact behavior --- to a physical 2D bipedal robot, AMBER2, by leveraging novel controller design, optimization methods, and software structures for the translation to hardware. This paper begins with the analysis of human locomotion data and uses it to motivate the construction of a hybrid system model representing a multi-contact robotic walking gait. By again looking to human data for inspiration, human-inspired controllers are developed and used in the formulation of an optimization problem that yields stable human-like multi-domain walking in simulation. These formal results are translated to hardware implementation via a novel dynamic trajectory generation strategy. Finally, the specific software structures utilized to translate these trajectories to hardware are presented. The end result is experimentally realized stable robotic walking with remarkably human-like multi-contact foot behaviors.
Starting Page	199
Ending Page	210
Page Count	12
File Format	PDF
ISBN	9781479949304
DOI	10.1109/ICCPS.2014.6843723
Language	English
Publisher	Association for Computing Machinery (ACM)
Publisher Date	2014-04-15
Access Restriction	Subscribed
Content Type	Text
Resource Type	Article

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Human-Inspired Multi-Contact Locomotion with AMBER2