|
Informatics Report Series
|
|
|
|
|
|
|
|
|
| Title:Trajectory generation for dynamic bipedal walking through qualitative model based manifold learning |
| Authors:
Subramanian Ramamoorthy
; Benjamin Kuipers
|
| Date:Jun 2008 |
| Publication Title:IEEE International Conference on Robotics and Automation, 2008. ICRA 2008. |
|
Publication Type:Conference Paper
Publication Status:Published
|
|
Page Nos:359-366
|
|
DOI:10.1109/ROBOT.2008.4543234
ISBN/ISSN:978-1-4244-1646-2
|
- Abstract:
-
Legged robots represent great promise for transport in unstructured environments. However, it has been difficult to devise motion planning strategies that achieve a combination of energy efficiency, safety and flexibility comparable to legged animals. In this paper, we address this issue by presenting a trajectory generation strategy for dynamic bipedal walking robots using a factored approach to motion planning - combining a low-dimensional plan (based on intermittently actuated passive walking in a compass-gait biped) with a manifold learning algorithm that solves the problem of embedding this plan in the high-dimensional phase space of the robot. This allows us to achieve task level control (over step length) in an energy efficient way - starting with only a coarse qualitative model of the system dynamics and performing a data-driven approximation of the dynamics in order to synthesize families of dynamically realizable trajectories. We demonstrate the utility of this approach with simulation results for a multi-link legged robot.
- Links To Paper
- 1st Link
- Bibtex format
- @InProceedings{EDI-INF-RR-1279,
- author = {
Subramanian Ramamoorthy
and Benjamin Kuipers
},
- title = {Trajectory generation for dynamic bipedal walking through qualitative model based manifold learning},
- book title = {IEEE International Conference on Robotics and Automation, 2008. ICRA 2008.},
- year = 2008,
- month = {Jun},
- pages = {359-366},
- doi = {10.1109/ROBOT.2008.4543234},
- url = {http://ieeexplore.ieee.org/iel5/4534525/4543169/04543234.pdf?tp=&isnumber=4543169&arnumber=4543234},
- }
|
