Intelligent Systems
Note: This research group has relocated.

Virtual Point Control for Step-down Perturbations and Downhill Slopes in Bipedal Running

2020

Article

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Bipedal running is a difficult task to realize in robots, since the trunk is underactuated and control is limited by intermittent ground contacts. Stabilizing the trunk becomes even more challenging if the terrain is uneven and causes perturbations. One bio-inspired method to achieve postural stability is the virtual point (VP) control, which is able to generate natural motion. However, so far it has only been studied for level running. In this work, we investigate whether the VP control method can accommodate single step-down perturbations and downhill terrains. We provide guidelines on the model and controller parameterizations for handling varying terrain conditions. Next, we show that the VP method is able to stabilize single step-down perturbations up to 40 cm, and downhill grades up to 20-10° corresponding to running speeds of 2-5 m/s. Our results show that the VP approach leads to asymmetrically bounded ground reaction forces for downhill running, unlike the commonly-used symmetric friction cone constraints. Overall, VP control is a promising candidate for terrain-adaptive running control of bipedal robots.

Author(s): Drama, Özge and Badri-Spröwitz, Alexander
Journal: Frontiers in Bioengineering and Biotechnology
Volume: 8
Pages: 586534
Year: 2020
Month: December
Day: 18
Publisher: Frontiers Media

Department(s): Dynamic Locomotion
Research Project(s): Trunk motion and virtual point control in bipedal locomotion
Bibtex Type: Article (article)
Paper Type: Journal

Digital: True
DOI: 10.3389/fbioe.2020.586534
State: Published
URL: https://www.frontiersin.org/article/10.3389/fbioe.2020.586534

BibTex

@article{drama2020d,
  title = {Virtual Point Control for Step-down Perturbations and Downhill Slopes in Bipedal Running},
  author = {Drama, Özge and Badri-Spr{\"o}witz, Alexander},
  journal = {Frontiers in Bioengineering and Biotechnology},
  volume = {8},
  pages = {586534},
  publisher = {Frontiers Media},
  month = dec,
  year = {2020},
  doi = {10.3389/fbioe.2020.586534},
  url = {https://www.frontiersin.org/article/10.3389/fbioe.2020.586534},
  month_numeric = {12}
}