ICRA'09 Paper Abstract


Paper FrC1.3

Lim, Bokman (Seoul National University), Kim, Beobkyoon (Seoul National University), Park, Frank (Seoul National University), Hong, Dennis (Virginia Tech)

Movement Primitives for Three-Legged Locomotion Over Uneven Terrain

Scheduled for presentation during the Regular Sessions "Legged Robots and Humanoid Locomotion - III" (FrC1), Friday, May 15, 2009, 14:10−14:30, 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 24, 2022

Keywords Legged Robots and Humanoid Locomotion, Motion and Path Planning


We propose a framework for online generation of efficient gaits on uneven terrain. A set of dynamically optimal leg swing motion primitives for irregular terrains is first constructed offline---this is done by generating minimum torque motions for various starting and ending ground configurations, extracting dominant principal components, and forming basis functions. Gaits are then generated online via linear interpolation of the principal component basis functions, using a distance metric on SO(3) to select the components. The algorithm is verified via dynamic simulations involving the STriDER, a three legged passive-walking robot. Our results show that gaits using only knee-actuated leg swings are able to traverse uneven terrain of limited variation.



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