The video shows the humanoid robot WABIAN-2R walking with dynamically generated gait. Two scenarios are demonstrated: (1) sudden stopping and reversing, and (2) sudden step change to avoid an obstacle. The walking gait is dynamically generated using a hybrid gait pattern generator capable of rapid and dynamically consistent pattern regeneration.
We propose a two-stage gait pattern generation scheme for the full-scale humanoid robots, that considers the dynamics of the system throughout the process. The fist stage is responsible for generating the preliminary motion reference, such as step position, timing and trajectory of Center of Mass (CoM), while the second stage serves as dynamics filter and modifies the initial references to make the pattern stable on the full-scale multi-degree-of-freedom humanoid robot. The approach allows employment of easy to use models for motion generation, yet the use of the dynamics filtering ensures that the pattern is safe to execute on the real-world humanoid robot. The paper contains description of two approaches used in the first and second stage, as well as experimental results proving the effectiveness of the method. The fast calculation time and the use of the system’s dynamic state as initial conditions for pattern generation makes it a good candidate for the real-time gait pattern generator.
Przemyslaw Kryczka, Petar Kormushev, Kenji Hashimoto, Hun-ok Lim, Nikolaos Tsagarakis, Darwin G. Caldwell and Atsuo Takanishi. Hybrid gait pattern generator capable of rapid and dynamically consistent pattern regeneration. Proc. URAI 2013.