Gait planning for biped locomotion on slippery terrain

Martim Brandão, Kenji Hashimoto, José Santos-Victor, Atsuo Takanishi

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    4 Citations (Scopus)

    Abstract

    We propose a new biped locomotion planning method that optimizes locomotion speed subject to friction constraints. For this purpose we use approximate models of required coefficient of friction (RCOF) as a function of gait. The methodology is inspired by findings in human gait analysis, where subjects have been shown to adapt spatial and temporal variables of gait in order to reduce RCOF in slippery environments. Here we solve the friction problem similarly, by planning on gait parameter space: namely foot step placement, step swing time, double support time and height of the center of mass (COM). We first used simulations of a 48 degrees-of-freedom robot to estimate a model of how RCOF varies with these gait parameters. Then we developed a locomotion planning algorithm that minimizes the time the robot takes to reach a goal while keeping acceptable RCOF levels. Our physics simulation results show that RCOF-aware planning can drastically reduce slippage amount while still maximizing efficiency in terms of locomotion speed. Also, according to our experiments human-like stretched-knees walking can reduce slippage amount more than bent-knees (i.e. crouch) walking for the same speed.

    Original languageEnglish
    Title of host publicationIEEE-RAS International Conference on Humanoid Robots
    PublisherIEEE Computer Society
    Pages303-308
    Number of pages6
    Volume2015-February
    ISBN (Print)9781479971749
    DOIs
    Publication statusPublished - 2015 Feb 12
    Event2014 14th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2014 - Madrid, Spain
    Duration: 2014 Nov 182014 Nov 20

    Other

    Other2014 14th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2014
    CountrySpain
    CityMadrid
    Period14/11/1814/11/20

    Fingerprint

    Biped locomotion
    Friction
    Planning
    Robots
    Gait analysis
    Physics

    ASJC Scopus subject areas

    • Artificial Intelligence
    • Computer Vision and Pattern Recognition
    • Hardware and Architecture
    • Human-Computer Interaction
    • Electrical and Electronic Engineering

    Cite this

    Brandão, M., Hashimoto, K., Santos-Victor, J., & Takanishi, A. (2015). Gait planning for biped locomotion on slippery terrain. In IEEE-RAS International Conference on Humanoid Robots (Vol. 2015-February, pp. 303-308). [7041376] IEEE Computer Society. https://doi.org/10.1109/HUMANOIDS.2014.7041376

    Gait planning for biped locomotion on slippery terrain. / Brandão, Martim; Hashimoto, Kenji; Santos-Victor, José; Takanishi, Atsuo.

    IEEE-RAS International Conference on Humanoid Robots. Vol. 2015-February IEEE Computer Society, 2015. p. 303-308 7041376.

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    Brandão, M, Hashimoto, K, Santos-Victor, J & Takanishi, A 2015, Gait planning for biped locomotion on slippery terrain. in IEEE-RAS International Conference on Humanoid Robots. vol. 2015-February, 7041376, IEEE Computer Society, pp. 303-308, 2014 14th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2014, Madrid, Spain, 14/11/18. https://doi.org/10.1109/HUMANOIDS.2014.7041376
    Brandão M, Hashimoto K, Santos-Victor J, Takanishi A. Gait planning for biped locomotion on slippery terrain. In IEEE-RAS International Conference on Humanoid Robots. Vol. 2015-February. IEEE Computer Society. 2015. p. 303-308. 7041376 https://doi.org/10.1109/HUMANOIDS.2014.7041376
    Brandão, Martim ; Hashimoto, Kenji ; Santos-Victor, José ; Takanishi, Atsuo. / Gait planning for biped locomotion on slippery terrain. IEEE-RAS International Conference on Humanoid Robots. Vol. 2015-February IEEE Computer Society, 2015. pp. 303-308
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