Abstract:
In this paper, we address the problem of incorporating both energy consumption and stability into a cost function for bipedal walking. To solve the problem, we also propo...Show MoreMetadata
Abstract:
In this paper, we address the problem of incorporating both energy consumption and stability into a cost function for bipedal walking. To solve the problem, we also propose a basic framework and demonstrate its effectiveness in simulation. This framework allows one to use a scalar coefficient to adjust the trade-off between stability and energy use. The optimal scalar value depends on the robot, terrain, task and priorities. In order to implement the methods in this paper, multiple low-level walking controllers and meshing of a ten-dimensional state space are needed. This latter requirement would normally be impractical for a 10D system; however, we exploit the observation that our low-level controllers cause the step-to-step dynamics to fill only a small, quasi-2D region, thus enabling meshing and, correspondingly, dynamic programming based on the resulting Markov Decision Process (MDP). Both the introduction of the energy/stability trade-off problem and our proposed framework for its solution have potential for significant utility in the future, as robot locomotion is developed to operate in increasingly less structured (stochastic) environments.
Date of Conference: 14-18 September 2014
Date Added to IEEE Xplore: 06 November 2014
ISBN Information: