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We propose a framework to use full-body dynamics for humanoid state estimation. The main idea is to decouple the full body state vector into several independent state vectors. Some decoupled state vectors can be estimated very efficiently with a steady state Kalman Filter. In a steady state Kalman Filter, state covariance is computed only once during initialization. Furthermore, decoupling speeds...
We present an optimization based real-time walking controller for a full size humanoid robot. The controller consists of two levels of optimization, a high level trajectory optimizer that reasons about center of mass and swing foot trajectories, and a low level controller that tracks those trajectories by solving a floating base full body inverse dynamics problem using Quadratic Programming. Our controller...
Push recovery is an important capability that needs to be included while developing a robust humanoid robot walking scheme. In this paper we propose an overall control system and a push recovery controller for humanoid robot walking. When the robot is pushed, the algorithm will modify the walking phase to maintain walking, while considering the practical constraints. 3D simulation results of the walking...
The capability to recover from a push and maintain balance is necessary for a humanoid robot to operate in the real environment. This paper analyzes different types of pushes, and proposes a controller for handling a hard instantaneous push that occurs during humanoid robot walking. The proposed controller detects the push, calculates the steps a robot requires to recover from the push, and generates...
Uneven terrain walking is one of the key challenges in bipedal walking. In this paper, we propose a motion pattern generator for slope walking in 3D dynamics using preview control of zero moment point (ZMP). In this method, the future ZMP locations are selected with respect to known slope gradient. The trajectory of the center of mass (CoM) of the robot is generated by using the preview controller...
Research of bipedal walking has been motivated by its great flexible in rough terrain walking, as well as its benefits to prosthesis development. This paper aims to achieve coordination of central pattern generator (CPG) and asymptotically stable walking behavior. CPG is always referred as several oscillators with coupled mutual inhibition. In this paper, the oscillator model proposed by Matsuoka...
Biological inspired control approaches based on central pattern generator (CPG) have been used to generate human-like rhythmic locomotion for bipedal robots. CPG consists of several oscillators with coupled mutual inhibition. In the application of CPG to bipedal walking, one of the important problem is how to coordinate oscillators so as to achieve stable walking, since without proper coordination...
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