The goal of most bipedal robotics research is to develop methods of achieving a dynamically balanced gait. Most current approaches focus on maintaining the balance of the system. This paper introduces a measure called the foot placement estimator (FPE) to restore balance to an unbalanced system. We begin by developing a theoretical proof to define when a biped is stable, as well as defining the region in which stability results are valid. This forms the basis for the derivation of the FPE. The results of the FPE are then extended to a complete gait cycle using the combination of a state machine and simple linear controllers. This control system is applied to a detailed and realistic simulation based on a physical robot currently under construction. Utilizing the FPE as a measure of balance allows us to create dynamically balanced gait cycles in the presence of external disturbances, including gait initiation and termination, without any precalculated trajectories.
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January 2008
Research Papers
Introduction of the Foot Placement Estimator: A Dynamic Measure of Balance for Bipedal Robotics
Derek L. Wight,
Derek L. Wight
University of Waterloo
, 200 University Avenue West, Waterloo, ON, N2L 3G1, Canada
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Eric G. Kubica,
Eric G. Kubica
University of Waterloo
, 200 University Avenue West, Waterloo, ON, N2L 3G1, Canada
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David W. L. Wang
David W. L. Wang
University of Waterloo
, 200 University Avenue West, Waterloo, ON, N2L 3G1, Canada
Search for other works by this author on:
Derek L. Wight
University of Waterloo
, 200 University Avenue West, Waterloo, ON, N2L 3G1, Canada
Eric G. Kubica
University of Waterloo
, 200 University Avenue West, Waterloo, ON, N2L 3G1, Canada
David W. L. Wang
University of Waterloo
, 200 University Avenue West, Waterloo, ON, N2L 3G1, CanadaJ. Comput. Nonlinear Dynam. Jan 2008, 3(1): 011009 (10 pages)
Published Online: November 26, 2007
Article history
Received:
February 21, 2007
Revised:
June 14, 2007
Published:
November 26, 2007
Citation
Wight, D. L., Kubica, E. G., and Wang, D. W. L. (November 26, 2007). "Introduction of the Foot Placement Estimator: A Dynamic Measure of Balance for Bipedal Robotics." ASME. J. Comput. Nonlinear Dynam. January 2008; 3(1): 011009. https://doi.org/10.1115/1.2815334
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