Using optimization to create self-stable human-like running

Authors:
Katja Mombaur
Affiliations:
Interdisciplinary center for scientific computing (iwr), university of heidelberg, im neuenheimer feld 368, 69120 heidelberg, germany. e-mail: kmombaur@uni-hd.de
Venue:
Robotica
Year:
2009

Citing 4
Cited 2

Passive dynamic walking

International Journal of Robotics Research
Exploiting inherent robustness and natural dynamics in the control of bipedal walking robots

Exploiting inherent robustness and natural dynamics in the control of bipedal walking robots
Open-loop stable running

Robotica
Self-stabilizing somersaults

IEEE Transactions on Robotics

From human to humanoid locomotion--an inverse optimal control approach

Autonomous Robots
Studying the effect of different optimization criteria on humanoid walking motions

SIMPAR'12 Proceedings of the Third international conference on Simulation, Modeling, and Programming for Autonomous Robots

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Abstract

This paper demonstrates how numerical optimization techniques can efficiently be used to create self-stable running motions for a human-like robot model. Exploitation of self-stability is considered to be a crucial factor for biological running and might be the key for success to make bipedal and humanoid robots run in the future. We investigate a two-dimensional simulation model of running with nine bodies (trunk, thighs, shanks, feet, and arms) powered by external moments at all internal joints. Using efficient optimal control techniques and stability optimization, we were able to determine model parameters and actuator inputs that lead to fully open-loop stable running motions.