Three-Dimensional Dynamic Running with a Point-Foot Biped based on Differentially Flat SLIP

Zejun Hong; Hua Chen; Wei Zhang

10.1109/IROS47612.2022.9981516

2022

2153-0858

978-1-6654-7928-8

2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

1169-1174

23-27 Oct. 2022

Kyoto, Japan

This paper presents a novel framework for point- foot biped running in three-dimensional space. The proposed approach generates center of mass (CoM) reference trajectories based on a differentially flat spring-loaded inverted pendulum (SLIP) model. A foothold planner is used to select touch down location that renders optimal CoM trajectory for upcoming step in real time. Dynamically feasible trajectories of CoM and orientation are subsequently generated by a simplified single rigid body (SRB) model based model predictive control (MPC). A task-space controller is then applied online to compute whole- body joint torques which embeds these target dynamics into the robot. The proposed approach is evaluated on physical simulation of a 12 degree-of-freedom (DoF), 7.95 kg point-foot bipedal robot. The robot achieves stable running at at varying speeds with maximum value of 1.1 m/s. The proposed scheme is shown to be able to reject vertical disturbances of 8 N. s and lateral disturbance of 6.5 N. s applied at the robot base.

Solid modeling Three-dimensional displays Tracking Computational modeling Predictive models Trajectory Task analysis

第一

IEEE

Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, China

Zejun Hong,Hua Chen,Wei Zhang. Three-Dimensional Dynamic Running with a Point-Foot Biped based on Differentially Flat SLIP[C],2022:1169-1174.