NDLI: Quadratic encoding of optimized humanoid walking

Content Provider	IEEE Xplore Digital Library
Author	Kim, Junggon Pollard, Nancy S. Atkeson, Christopher G.
Copyright Year	2013
Description	Author affiliation: The Robotics Institute, Carnegie Mellon University, 5000 Forbes Ave, Pittsburgh, PA 15213, USA (Kim, Junggon; Pollard, Nancy S.; Atkeson, Christopher G.)
Abstract	In this paper we show that optimal stepping trajectories and trajectory cost for a walking biped robot on rough terrain can be encoded as simple quadratic functions of initial state and footstep sequence. In order to find this encoding, we build a database of optimal walking trajectories for a 3D humanoid model by sampling the input space (initial state and footstep sequence) and solving a physically-based trajectory optimization problem for each sample. Then, the function coefficients are obtained by fitting the data using least squares. The performance of the proposed method is evaluated by comparing the function values with other optimal walking motion data generated with different footstep samples. As an application, we use a quadratic function to calculate the effort cost used in finding an optimal footstep sequence with an A* algorithm. Our study shows that a simple function can encode optimal walking effectively, which provides a fast alternative to online optimization of walking with full body dynamics.
Starting Page	300
Ending Page	306
File Size	2532277
Page Count	7
File Format	PDF
ISBN	9781479926176
ISSN	21640572
e-ISBN	9781479926190
DOI	10.1109/HUMANOIDS.2013.7029991
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-10-15
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Legged locomotion Databases Trajectory Planning Optimization Foot
Content Type	Text
Resource Type	Article

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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