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First Steps Toward Underactuated Human-Inspired Bipedal Robotic Walking

Summary: First Steps Toward Underactuated Human-Inspired
Bipedal Robotic Walking
Aaron D. Ames
Abstract-- This paper presents the first steps toward going
from human data to formal controller design to experimental
realization in the context of underactuated bipedal robots.
Specifically, by studying experimental human walking data,
we find that specific outputs of the human, i.e., functions
of the kinematics, appear to be canonical to walking and
are all characterized by a single function of time, termed a
human walking function. Using the human outputs and walking
function, we design a human-inspired controller that drives the
output of the robot to the output of the human as represented
by the walking function. The main result of the paper is an
optimization problem that determines the parameters of this
controller so as to guarantee stable underactuated walking
that is as "close" as possible to human walking. This result is
demonstrated through the simulation of a physical underactu-
ated 2D bipedal robot, AMBER. Experimentally implementing
this control on AMBER through "feed-forward" control, i.e.,


Source: Ames, Aaron - Department of Mechanical Engineering, Texas A&M University


Collections: Engineering