In legged locomotion, the relationship between different gait behaviors and energy consumption must consider the full-body dynamics and the robot control as a whole, which cannot be captured by simple models. This work studies the totality of robot dynamics and whole-body optimal control as a coupled system to investigate energy consumption during balance recovery. We developed a two-phase nonlinear optimization pipeline for dynamic stepping, which generates reachability maps showing complex energy-stepping relations. We optimize gait parameters to search all reachable locations and quantify the energy cost during dynamic transitions, which allows studying the relationship between energy consumption and stepping locations given different initial conditions. We found that to achieve efficient actuation, the stepping location and timing can have simple approximations close to the underlying optimality, resulting in optimal step positions with a 10.9% lower energy cost than those generated by linear inverted pendulum model. Despite the complexity of this nonlinear process, we found that near-minimal effort stepping locations are within a region of attractions, rather than a narrow solution space suggested by a simple model. This provides new insights into the nonuniqueness of near-optimal solutions in robot motion planning and control, and the diversity of stepping behavior in humans.


    Access

    Download


    Export, share and cite



    Title :

    Reachability Map for Diverse and Energy Efficient Stepping of Humanoids


    Contributors:
    McGreavy, C (author) / Li, Z (author)

    Publication date :

    2022-06-13


    Remarks:

    IEEE/ASME Transactions on Mechatronics (2022) (In press).


    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629



    Humans and Humanoids

    R. O. Ambrose | NTIS | 2012


    Humans and Humanoids

    Ambrose, Robert O. | NTRS | 2012


    Humanoids Designed to do Work

    R. Ambrose / S. Askew / W. Bluethmann et al. | NTIS | 2001


    Humanoids Designed to do Work

    Ambrose, Robert / Askew, Scott / Bluethmann, William et al. | NTRS | 2001


    Grounding Emotion Appraisal in Autonomous Humanoids

    Kiryazov, Kiril | BASE | 2014

    Free access