Minimalistic control of biped walking in rough terrain |
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Authors: | Fumiya Iida Russ Tedrake |
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Affiliation: | (1) Department of Aeronautics and Astronautics, Graduate School of Engineering, Kyoto University, Yoshida-honmachi, Sakyo-ku, Kyoto 606-8501, Japan |
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Abstract: | Toward our comprehensive understanding of legged locomotion in animals and machines, the compass gait model has been intensively
studied for a systematic investigation of complex biped locomotion dynamics. While most of the previous studies focused only
on the locomotion on flat surfaces, in this article, we tackle with the problem of bipedal locomotion in rough terrains by
using a minimalistic control architecture for the compass gait walking model. This controller utilizes an open-loop sinusoidal
oscillation of hip motor, which induces basic walking stability without sensory feedback. A set of simulation analyses show
that the underlying mechanism lies in the “phase locking” mechanism that compensates phase delays between mechanical dynamics
and the open-loop motor oscillation resulting in a relatively large basin of attraction in dynamic bipedal walking. By exploiting
this mechanism, we also explain how the basin of attraction can be controlled by manipulating the parameters of oscillator
not only on a flat terrain but also in various inclined slopes. Based on the simulation analysis, the proposed controller
is implemented in a real-world robotic platform to confirm the plausibility of the approach. In addition, by using these basic
principles of self-stability and gait variability, we demonstrate how the proposed controller can be extended with a simple
sensory feedback such that the robot is able to control gait patterns autonomously for traversing a rough terrain. |
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