ICRA'09 Paper Abstract


Paper FrB1.4

Stramigioli, Stefano (University of Twente), Duindam, Vincent (University of California, Berkeley), van Oort, Gijs (University of Twente), Goswami, Ambarish (Honda Research Institute)

Compact Analysis of 3D Bipedal Gait Using Geometric Dynamics of Simplified Models

Scheduled for presentation during the Regular Sessions "Legged Robots and Humanoid Locomotion - II" (FrB1), Friday, May 15, 2009, 11:30−11:50, MainHall

2009 IEEE International Conference on Robotics and Automation, May 12 - 17, 2009, Kobe, Japan

This information is tentative and subject to change. Compiled on January 21, 2022

Keywords Legged Robots and Humanoid Locomotion, Dynamics


The large number of degrees of freedom in legged robots give rise to complicated dynamics equations. Analyzing these equations or using them for control can therefore be a difficult and non-intuitive task. A simplification of the complex multi-body dynamics can be achieved by instantaneously reducing it to an equivalent single inertial entity called the locked inertia or the composite rigid body inertia.

In this paper, we adopt the methods of geometric dynamics to analyze the gait using the locked inertia of the robot. The analysis includes the rolling of a biped on a 3D rigid foot and 3D impacts. An example of numerical optimization of foot shape parameters is shown.

Our long-term objective is to develop the theoretical framework and to provide the necessary tools for systematic analysis, design, and control of efficient biped robots.



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