Gait generation via the Foot Placement Estimator for 3D bipedal robots

Safwan Choudhury; Dana Kulic

doi:10.1109/ICRA.2013.6631395

Gait generation via the Foot Placement Estimator for 3D bipedal robots

Safwan Choudhury, Dana Kulic

Research output: Chapter in Book/Report/Conference proceeding › Conference Paper › Research › peer-review

9 Citations (Scopus)

Abstract

This paper proposes a trajectory generation and control strategy for generating stable gait subject to unknown disturbances, based on the concept of the Foot Placement Estimator (FPE). While most walking control strategies in the field of bipedal locomotion aim to constantly maintain balance, the Foot Placement Estimator (FPE) estimates where the foot must be placed in order to restore balance. One of the key novelties of the FPE approach is its natural extension to form complete gait cycles using a state machine and simple proportional-derivative controllers. In this paper, the FPE control strategy is extended from 2D to 3D robots, and demonstrated in simulation on a 14-DOF lower body bipedal robot.

Original language	English
Title of host publication	2013 IEEE International Conference on Robotics and Automation, ICRA 2013
Publisher	IEEE, Institute of Electrical and Electronics Engineers
Pages	5689-5695
Number of pages	7
ISBN (Print)	9781467356411
DOIs	https://doi.org/10.1109/ICRA.2013.6631395
Publication status	Published - 14 Nov 2013
Externally published	Yes
Event	IEEE International Conference on Robotics and Automation 2013 - Karlsruhe, Germany Duration: 6 May 2013 → 10 May 2013 https://ieeexplore.ieee.org/xpl/conhome/6615630/proceeding (Proceedings)

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)	1050-4729

Conference

Conference	IEEE International Conference on Robotics and Automation 2013
Abbreviated title	ICRA 2013
Country/Territory	Germany
City	Karlsruhe
Period	6/05/13 → 10/05/13
Internet address	https://ieeexplore.ieee.org/xpl/conhome/6615630/proceeding (Proceedings)

Keywords

Bipedal Locomotion
Foot Placement
Gait Synthesis

Access to Document

10.1109/ICRA.2013.6631395

Cite this

Choudhury, S., & Kulic, D. (2013). Gait generation via the Foot Placement Estimator for 3D bipedal robots. In 2013 IEEE International Conference on Robotics and Automation, ICRA 2013 (pp. 5689-5695). (Proceedings - IEEE International Conference on Robotics and Automation). IEEE, Institute of Electrical and Electronics Engineers. https://doi.org/10.1109/ICRA.2013.6631395

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abstract = "This paper proposes a trajectory generation and control strategy for generating stable gait subject to unknown disturbances, based on the concept of the Foot Placement Estimator (FPE). While most walking control strategies in the field of bipedal locomotion aim to constantly maintain balance, the Foot Placement Estimator (FPE) estimates where the foot must be placed in order to restore balance. One of the key novelties of the FPE approach is its natural extension to form complete gait cycles using a state machine and simple proportional-derivative controllers. In this paper, the FPE control strategy is extended from 2D to 3D robots, and demonstrated in simulation on a 14-DOF lower body bipedal robot.",

keywords = "Bipedal Locomotion, Foot Placement, Gait Synthesis",

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note = "IEEE International Conference on Robotics and Automation 2013, ICRA 2013 ; Conference date: 06-05-2013 Through 10-05-2013",

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Choudhury, S & Kulic, D 2013, Gait generation via the Foot Placement Estimator for 3D bipedal robots. in 2013 IEEE International Conference on Robotics and Automation, ICRA 2013. Proceedings - IEEE International Conference on Robotics and Automation, IEEE, Institute of Electrical and Electronics Engineers, pp. 5689-5695, IEEE International Conference on Robotics and Automation 2013, Karlsruhe, Baden-Württemberg, Germany, 6/05/13. https://doi.org/10.1109/ICRA.2013.6631395

Gait generation via the Foot Placement Estimator for 3D bipedal robots. / Choudhury, Safwan; Kulic, Dana.
2013 IEEE International Conference on Robotics and Automation, ICRA 2013. IEEE, Institute of Electrical and Electronics Engineers, 2013. p. 5689-5695 (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in Book/Report/Conference proceeding › Conference Paper › Research › peer-review

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AB - This paper proposes a trajectory generation and control strategy for generating stable gait subject to unknown disturbances, based on the concept of the Foot Placement Estimator (FPE). While most walking control strategies in the field of bipedal locomotion aim to constantly maintain balance, the Foot Placement Estimator (FPE) estimates where the foot must be placed in order to restore balance. One of the key novelties of the FPE approach is its natural extension to form complete gait cycles using a state machine and simple proportional-derivative controllers. In this paper, the FPE control strategy is extended from 2D to 3D robots, and demonstrated in simulation on a 14-DOF lower body bipedal robot.

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Gait generation via the Foot Placement Estimator for 3D bipedal robots

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Keywords

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