ICRA 2011 Paper Abstract


Paper TuA1-InteracInterac.18

Xu, Tao (Tongji University), Chen, Qijun (Tongji University), CAI, Zhiqiang (Tongji University)

Rebalance Strategies for Humanoids Walking by Foot Positioning Compensator Based on Adaptive Heteroscedastic SpGPs

Scheduled for presentation during the Poster Sessions "Interactive Session I: Robotic Technology" (TuA1-InteracInterac), Tuesday, May 10, 2011, 08:20−09:35, Hall

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on March 30, 2020

Keywords Humanoid and Bipedal Locomotion, Humanoid Robots


To solve the rebalance problem of a full-body humanoid walking, an adaptive foot positioning compensation approach is proposed. To obtain a more precise initial policy, a constrained dynamics model is used to generate the offline policy. A heteroscedastic sparse Gaussian process is applied for online calculation of the foot positioning policy. In order to make the generated policy to adapt with the full-body dynamics, a sample-efficient MAP-like updating method for the heteroscedastic sparse Gaussian process model is also proposed. Experiments on both simulation and a real full-body humanoid are developed to show the performance of the final foot positioning policy. With the help of proposed method, the full-body humanoid robot succeeded walking down an elastic deformable platform and several obvious compensation foot steps can be observed for the robot to retrieve its balance.



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