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2022 | OriginalPaper | Buchkapitel

Agile Running Control for Bipedal Robot Based on 3D-SLIP Model Regulation in Task-Space

verfasst von : Shengjun Wang, Zehuan Li, Haibo Gao, Kaizheng Shan, Jun Li, Haitao Yu

Erschienen in: Intelligent Robotics and Applications

Verlag: Springer International Publishing

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Abstract

To achieve agile running of a biped robot, dynamic stability, joint coordination, and real-time ability are required. In this paper, a task-space-based controller framework is constructed with a reduced-order 3D-SLIP model. On the top layer, a 3D-SLIP model based planner is employed for center-of-mass trajectory planning. The planner built with optimization for table divided apex state, and a neural network is used to fit the optimized table for real-time planning. On the bottom layer, a task-space-based controller with full-body dynamics is utilized, which solves the quadratic programming for the optimized joint torque in real-time. A 12-DOF biped robot model with a point-foot is used for simulation verification. The simulation result show that stable running and single-cycle apex state change running can achieved with the framework.

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Vorheriges Kapitel Multi-agent Pathfinding with Communication Reinforcement Learning and Deadlock Detection

Nächstes Kapitel The Multi-objective Optimization of a Multi-loop Mechanism for Space Applications

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Titel: Agile Running Control for Bipedal Robot Based on 3D-SLIP Model Regulation in Task-Space
verfasst von: Shengjun Wang
Zehuan Li
Haibo Gao
Kaizheng Shan
Jun Li
Haitao Yu
Verlag: Springer International Publishing
Buch: Intelligent Robotics and Applications
Print ISBN: 978-3-031-13843-0

Electronic ISBN: 978-3-031-13844-7

Copyright-Jahr: 2022
DOI: https://doi.org/10.1007/978-3-031-13844-7_48

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