Dynamic and Versatile Humanoid Walking via Embedding 3D Actuated SLIP Model with Hybrid LIP Based Stepping

TL;DR

This paper introduces a novel method for humanoid robots to perform dynamic, versatile walking with variable COM height by embedding a 3D actuated SLIP model with hybrid LIP stepping control, demonstrated on the Atlas robot in simulation.

Contribution

It presents a new approach combining reduced order models and hybrid LIP stepping control to generate versatile humanoid walking with variable COM height.

Findings

Successfully generated diverse walking behaviors in simulation

Embedded 3D SLIP model enables dynamic and versatile motions

Demonstrated on Atlas robot with promising results

Abstract

In this paper, we propose an efficient approach to generate dynamic and versatile humanoid walking with non-constant center of mass (COM) height. We exploit the benefits of using reduced order models (ROMs) and stepping control to generate dynamic and versatile walking motion. Specifically, we apply the stepping controller based on the Hybrid Linear Inverted Pendulum Model (H-LIP) to perturb a periodic walking motion of a 3D actuated Spring Loaded Inverted Pendulum (3D-aSLIP), which yields versatile walking behaviors of the 3D-aSLIP, including various 3D periodic walking, fixed location tracking, and global trajectory tracking. The 3D-aSLIP walking is then embedded on the fully-actuated humanoid via the task space control on the COM dynamics and ground reaction forces. The proposed approach is realized on the robot model of Atlas in simulation, wherein versatile dynamic motions are generated.