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American Control Conference

作者： Yuan Gao Xingye Da Yan Gu Department of Mechanical Engineering University of Massachusetts Lowell Lowell MA U.S.A. AI and Robotics Research and Development Engineer Nvidia Coporation

ISBN: (数字)9781538682661

ISBN: (纸本)9781538682678

The ability to track a general walking path with specific timing is crucial to the operational safety and reliability of bipedal robots for avoiding dynamic obstacles, such as pedestrians, in complex environments. This paper introduces a motion planner that generates the desired full-body motion in real-time for fully-actuated bipedal robotic walking. The key novelty of the proposed planner lies in its capability of online generation of impact-aware non-periodic motions along general walking paths that respect the discrete impact behaviors. The planner is derived based on full-order modeling of hybrid walking dynamics and the proposed construction of keyframe posture library. Simulation results of a three-dimensional bipedal robot are presented to confirm the effectiveness of the proposed planner in generating full-body motions for each walking step within 0.6 second.

关键词： walking Robot operating security motion planning Pedestrians PAVEMENTS

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Impact-Aware Online Motion Planning for Fully-Actuated Bipedal Robot Walking

arXiv

引用

arXiv 2019年

作者： Gao, Yuan Da, Xingye Gu, Yan Department of Mechanical Engineering University of Massachusetts Lowell LowellMA01854 United States AI Robotics Research Development Engineer in Nvidia Coporation

The ability to track a general walking path with specific timing is crucial to the operational safety and reliability of bipedal robots for avoiding dynamic obstacles, such as pedestrians, in complex environments. This paper introduces an online, full-body motion planner that generates the desired impact-aware motion for fully-actuated bipedal robotic walking. The main novelty of the proposed planner lies in its capability of producing desired motions in real-time that respect the discrete impact dynamics and the desired impact *** derive the proposed planner, a full-order hybrid dynamic model of fully-actuated bipedal robotic walking is presented, including both continuous dynamics and discrete lading impacts. Next, the proposed impact-aware online motion planner is introduced. Finally, simulation results of a 3-D bipedal robot are provided to confirm the effectiveness of the proposed online impact-aware planner. The online planner is capable of generating full-body motion of one walking step within 0.6 second, which is shorter than a typical bipedal walking step. Copyright © 2019, The Authors. All rights reserved.

关键词： Motion planning

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