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Standing up after falling is an essential ability for humanoid robots in order to resume their tasks without help from humans. Although many humanoid robots, especially small-size humanoid robots, have their own stand-up motions, there has not been a generalized method to automatically learn flexible stand-up motions for humanoid robots which can be applied to various fallen positions. In this research,...
Common design principles for low cost humanoid robots include a low center of mass height and a large support area for increased static stability. However, such principles limit the bipedal mobility of the robot due to the kinematic constraints involved. In this paper, we present an efficient locomotion controller that utilizes automatically calculated heel and toe lift motions to overcome the kinematic...
When a humanoid robot traverses uneven terrain, such as stairs, possible footstep positions are constrained and the robot must take large strides. For robots with relatively short leg lengths, making such big strides is kinematically challenging. Possible solutions include lowering the torso height, relying on fast and dynamic stepping, and reducing foot size. However, all of these methods negatively...
This paper describes Team THOR's approach to sliding autonomy in manipulation and full body control of a disaster response robot for the 2015 DARPA Robotics Challenge (DRC) Finals. Under the duress of unpredictable bandwidth constraints, autonomous behaviors become critical for reducing response time and dealing with dynamic disturbances. However, the nature of disaster response presents situations...
This paper describes the hardware design and motion control algorithms that have been used by Team THOR in the DARPA Robotics Challenge (DRC) Trials 2013 competition. The robotic hardware we use, the THOR-OP robot, consists of standardized and general purpose actuators and structural components, which greatly reduce the build and reconfiguration time and allows for quick field repair capability. Our...
Zero moment point (ZMP) preview controller is a widely adopted method for bipedal locomotion. However, for robots which are resource constrained or working in dynamic environments, simple reactive walk controllers are still favored as ZMP preview controllers have more control latency and are computationally more demanding. In this work, we present a hybrid walk controller that dynamically switches...
Bipedal walking in human environments is made difficult by the unevenness of the terrain and by external disturbances. Most approaches to bipedal walking in such environments either rely upon a precise model of the surface or special hardware designed for uneven terrain. In this paper, we present an alternative approach to stabilize the walking of an inexpensive, commercially-available, position-controlled...
Dynamic bipedal walking is susceptible to external disturbances and surface irregularities, requiring robust feedback control to remain stable. In this work, we present a practical hierarchical push recovery strategy that can be readily implemented on a wide range of humanoid robots. Our method consists of low level controllers that perform simple, biomechanically motivated push recovery actions and...
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