ICRA 2018 Spotlight Video
Interactive Session Tue PM Pod H.7
Authors: Seyde, Tim Niklas; Shrivastava, Apoorv; Englsberger, Johannes; Bertrand, Sylvain; Pratt, Jerry; Griffin, Robert J.
Title: Inclusion of Angular Momentum During Planning for Capture Point Based Walking
Abstract:
When walking at high speeds, the swing legs for robots produce a non-negligible angular momentum rate. To accommodate this, we provide a reference trajectory generator for bipedal walking that incorporates predicted centroidal angular momentum at the planning stage. This can be done efficiently as the Centroidal Moment Pivot (CMP), Instantaneous Capture Point (ICP) and the center of mass (CoM) all have closed-form trajectory solutions due to their linear dynamics. This is then used to produce smooth, continuous trajectories. We furthermore provide a lightweight model to estimate angular momentum as induced during leg swing of the gait cycle. Our proposed trajectory generator is tested thoroughly in simulation and has been shown to successfully operate on the real hardware.
15 май 2018
