Dynamic and Versatile Humanoid Walking via Embedding 3D Actuated SLIP Model with Hybrid LIP Based Stepping
This work addresses the problem of achieving more natural and adaptable walking for humanoid robots, though it appears incremental as it builds on existing reduced order models and control methods.
The paper tackled generating dynamic humanoid walking with variable center of mass height by embedding a 3D actuated Spring Loaded Inverted Pendulum model with hybrid linear inverted pendulum stepping control, resulting in versatile walking behaviors including periodic walking and trajectory tracking in simulation on the Atlas robot.
In this paper, we propose an efficient approach to generate dynamic and versatile humanoid walking with non-constant center of mass (COM) height. We exploit the benefits of using reduced order models (ROMs) and stepping control to generate dynamic and versatile walking motion. Specifically, we apply the stepping controller based on the Hybrid Linear Inverted Pendulum Model (H-LIP) to perturb a periodic walking motion of a 3D actuated Spring Loaded Inverted Pendulum (3D-aSLIP), which yields versatile walking behaviors of the 3D-aSLIP, including various 3D periodic walking, fixed location tracking, and global trajectory tracking. The 3D-aSLIP walking is then embedded on the fully-actuated humanoid via the task space control on the COM dynamics and ground reaction forces. The proposed approach is realized on the robot model of Atlas in simulation, wherein versatile dynamic motions are generated.