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 language | English |
|---|---|
| Title of host publication | IEEE-RAS International Conference on Humanoid Robots |
| Publisher | IEEE Computer Society |
| Pages | 303-308 |
| Number of pages | 6 |
| Volume | 2015-February |
| ISBN (Print) | 9781479971749 |
| DOIs | |
| Publication status | Published - 2015 Feb 12 |
| Event | 2014 14th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2014 - Madrid, Spain Duration: 2014 Nov 18 → 2014 Nov 20 |
Other
| Other | 2014 14th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2014 |
|---|---|
| Country | Spain |
| City | Madrid |
| Period | 14/11/18 → 14/11/20 |
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ASJC Scopus subject areas
- Artificial Intelligence
- Computer Vision and Pattern Recognition
- Hardware and Architecture
- Human-Computer Interaction
- Electrical and Electronic Engineering
Cite this
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 proceeding › Conference contribution
}
TY - GEN
T1 - Gait planning for biped locomotion on slippery terrain
AU - Brandão, Martim
AU - Hashimoto, Kenji
AU - Santos-Victor, José
AU - Takanishi, Atsuo
PY - 2015/2/12
Y1 - 2015/2/12
N2 - 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.
AB - 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.
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U2 - 10.1109/HUMANOIDS.2014.7041376
DO - 10.1109/HUMANOIDS.2014.7041376
M3 - Conference contribution
SN - 9781479971749
VL - 2015-February
SP - 303
EP - 308
BT - IEEE-RAS International Conference on Humanoid Robots
PB - IEEE Computer Society
ER -