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ICRA
2005
IEEE

Synthesis of Controllers for Stylized Planar Bipedal Walking

10 years 3 months ago
Synthesis of Controllers for Stylized Planar Bipedal Walking
— We present a method for computing controllers for stable planar-biped walking gaits that follow a particular style. The desired style is specified with a kinematic target trajectory that may or may not be physically realizable. A nearest-neighbor controller representation is used and its free parameters are optimized using a local parameter search technique. The optimization function is constructed by integrating a mass-distance metric over fixed time intervals, which serves to measure the deviation of a simulated motion from a desired target motion. We demonstrate simulated bipedal walks having user-specified styles, walks for bipeds of varying dimensions, walks over terrain of known slopes, and walks that are robust with respect to unobserved terrain variations and modeling errors.
Dana Sharon, Michiel van de Panne
Added 25 Jun 2010
Updated 25 Jun 2010
Type Conference
Year 2005
Where ICRA
Authors Dana Sharon, Michiel van de Panne
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