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Generating real-time trajectories for a planar biped robot crossing a wide ditch with landing uncertainties

Published online by Cambridge University Press:  13 September 2018

Janardhan V.  and
Prasanth Kumar R.
Janardhan V.
Affiliation:
Department of Mechanical and Aerospace Engineering, Indian Institute of Technology Hyderabad, Kandi, Telangana - 502285, India. Email: vishnavj@gmail.com
Prasanth Kumar R.*
Affiliation:
Department of Mechanical and Aerospace Engineering, Indian Institute of Technology Hyderabad, Kandi, Telangana - 502285, India. Email: vishnavj@gmail.com
*
*Corresponding author. E-mail: rpkumar@iith.ac.in
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Summary

Ditch crossing is one of the essential capabilities required for a biped robot in disaster management and search and rescue operations. Present work focuses on crossing a wide ditch with landing uncertainties by an under-actuated planar biped robot with five degrees of freedom. We consider a ditch as wide for a robot when the ankle to ankle stretch required to cross it is at least equal to the leg length of the robot. Since locomotion in uncertain environments requires real-time planning, in this paper, we present a new approach for generating real-time joint trajectories using control constraints not explicitly dependent on time, considering impact, dynamic balance, and friction. As part of the approach, we introduce a novel concept called the point of feasibility for bringing the biped robot to complete rest at the end of ditch crossing. We present a study on the influence of initial posture on landing impact and net energy consumption. Through simulations, we found the best initial postures to efficiently cross a wide ditch of width 1.05 m, with less impact and without singularities. Finally, we demonstrate the advantage of the proposed approach to cross a wide ditch when the surface friction is not same on both sides of the ditch.

Keywords

Biped robotDitch crossingWide ditchReal-time solutionControl constraintsLanding uncertainty
Type
Articles
Information
Robotica , Volume 37 , Issue 1 , January 2019 , pp. 109 - 140
Copyright
Copyright © Cambridge University Press 2018 

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