Abstract
AbstractWe present a method to drastically reduce the required number of degrees-of-freedom (DOFs) needed for walking for each leg of bipedal robots and lower-limb exoskeletons. This approach releases more legs DOFs in the null space to do other tasks, instead of unnecessarily constraining them. It uses relative reference frames to control relative motion between the two feet, instead of the usual method of controlling foot movement with respect to fixed reference frames. In its basic form, it controls the bipedal walking holistically using two controllers: (1) world space control using relative feet motion and (2) null-space control of the legs posture.
Highlights
This paper proposes a method to drastically reduce the required number of legs degrees-of-freedom (DOFs), for bipedal robots and lower-limb exoskeletons, that is needed for walking
To the best of our knowledge, this study is the first of its kind in controlling bipedal walking. It is implemented through the use of a relative Jacobian, which results in a drastic reduction of the required DOFs for bipedal robots
The use of relative reference frames releases these constraints using a holistic control approach with two components: (1) world space control using the relative motion between the two feet and (2) null-space control using the posture of the legs to balance against gravity
Summary
This paper proposes a method to drastically reduce the required number of legs degrees-of-freedom (DOFs), for bipedal robots and lower-limb exoskeletons, that is needed for walking. To the best of our knowledge, this study is the first of its kind in controlling bipedal walking It is implemented through the use of a relative Jacobian, which results in a drastic reduction of the required DOFs for bipedal robots. This is important because the expressions related to the control of a single redundant robot can be applied to bipedal robots This means that bipedal walking can be implemented using only two major controllers: one for the relative feet motion and another for the null-space leg posture. This means that task prioritization can be implemented very strictly just like a single manipulator controller. When legs are changed, only the absolute Jacobian components (and their corresponding transformation matrices) are to be replaced without the need to rederive a completely new formulation of the relative Jacobian
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