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Toward Reactive Walking: Control of Biped Robots Exploiting an Event-Based FSM

Lee, Yisoo and Lee, Hosang and Lee, Jinoh and Park, Jaeheung (2022) Toward Reactive Walking: Control of Biped Robots Exploiting an Event-Based FSM. IEEE Transactions on Robotics, 38 (2), pp. 683-698. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/TRO.2021.3088062. ISSN 1552-3098.

[img] PDF - Postprint version (accepted manuscript)
[img] PDF - Only accessible within DLR - Published version

Official URL: https://ieeexplore.ieee.org/document/9469887


Reactivity to unforeseen disturbances is one of the most crucial characteristics for biped robots to walk robustly in the real world. Nevertheless, conventional walking methods generally have limited capability for generating rapid reactions to disturbances, because in these methods it is necessary to wait until the end of the preplanned time period to proceed to the next phase. In this study, to improve reactivity, we develop an event-based finite-state machine (E-FSM) for walking pattern generation. Reactivity is enhanced by determining the state transition conditions of the E-FSM only with time-independent events based on the present robot state. Moreover, in the E-FSM, the robot can walk robustly even when the center of mass and the swing foot motion are disturbed, by employing the capture point concept combined with a new swing foot position constraint. Finally, we propose to control the walking robot by incorporating the E-FSM with an inverse dynamics-based motion/force controller to achieve compliant behavior. This can provide safe responses to external disturbances. The developed method is verified by experiments on a 12-degrees-of-freedom torque-controlled biped robot while it locomotes under irregular external disturbances applied to the upper body or swing leg.

Item URL in elib:https://elib.dlr.de/143985/
Document Type:Article
Title:Toward Reactive Walking: Control of Biped Robots Exploiting an Event-Based FSM
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Lee, YisooKorea Institute of Science, and TechnologyUNSPECIFIEDUNSPECIFIED
Lee, HosangSeoul National UniversityUNSPECIFIEDUNSPECIFIED
Lee, JinohUNSPECIFIEDhttps://orcid.org/0000-0002-4901-7095UNSPECIFIED
Park, JaeheungSeoul National UniversityUNSPECIFIEDUNSPECIFIED
Date:5 April 2022
Journal or Publication Title:IEEE Transactions on Robotics
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:Yes
Page Range:pp. 683-698
Publisher:IEEE - Institute of Electrical and Electronics Engineers
Keywords:Humanoid and bipedal locomotion, humanoid robots, legged robots, robot walking, robot control
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Robotics
DLR - Research area:Raumfahrt
DLR - Program:R RO - Robotics
DLR - Research theme (Project):R - Walking robot/locomotion [RO]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Lee, Dr. Jinoh
Deposited On:24 Sep 2021 14:52
Last Modified:06 Sep 2022 18:51

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