Header logo is

Stepping Stabilization Using a Combination of DCM Tracking and Step Adjustment

2016

Conference Paper

am

mg


In this paper, a method for stabilizing biped robots stepping by a combination of Divergent Component of Motion (DCM) tracking and step adjustment is proposed. In this method, the DCM trajectory is generated, consistent with the predefined footprints. Furthermore, a swing foot trajectory modification strategy is proposed to adapt the landing point, using DCM measurement. In order to apply the generated trajectories to the full robot, a Hierarchical Inverse Dynamics (HID) is employed. The HID enables us to use different combinations of the DCM tracking and step adjustment for stabilizing different biped robots. Simulation experiments on two scenarios for two different simulated robots, one with active ankles and the other with passive ankles, are carried out. Simulation results demonstrate the effectiveness of the proposed method for robots with both active and passive ankles.

Author(s): Khadiv, Majid and Kleff, Sebastien and Herzog, Alexander and Moosavian, S A A and Schaal, Stefan and Righetti, Ludovic
Book Title: 2016 4th International Conference on Robotics and Mechatronics (ICROM)
Pages: 130--135
Year: 2016
Publisher: IEEE

Department(s): Autonomous Motion, Movement Generation and Control
Bibtex Type: Conference Paper (inproceedings)

DOI: 10.1109/ICRoM.2016.7886834

Address: Teheran, Iran
URL: https://arxiv.org/abs/1609.09822

BibTex

@inproceedings{khadiv_stepping_2016,
  title = {Stepping {Stabilization} {Using} a {Combination} of {DCM} {Tracking} and {Step} {Adjustment}},
  author = {Khadiv, Majid and Kleff, Sebastien and Herzog, Alexander and Moosavian, S A A and Schaal, Stefan and Righetti, Ludovic},
  booktitle = {2016 4th {International} {Conference} on {Robotics} and {Mechatronics} ({ICROM})},
  pages = {130--135},
  publisher = {IEEE},
  address = {Teheran, Iran},
  year = {2016},
  url = {https://arxiv.org/abs/1609.09822}
}