TY - JOUR T1 - Efficient Walking Gait Generation via Principal Component Representation of Optimal Trajectories: Application to a Planar Biped Robot With Elastic Joints JF - IEEE Robotics and Automation Letters Y1 - 2018 A1 - G M Gasparri A1 - S. Manara A1 - D. Caporale A1 - G. Averta A1 - M. Bonilla A1 - H. Marino A1 - M. G. Catalano A1 - G. Grioli A1 - M. Bianchi A1 - A. Bicchi A1 - M. Garabini AB -

Recently, the method of choice to exploit robot dynamics for efficient walking is numerical optimization (NO). The main drawback in NO is the computational complexity, which strongly affects the time demand of the solution. Several strategies can be used to make the optimization more treatable and to efficiently describe the solution set. In this letter, we present an algorithm to encode effective walking references, generated offline via numerical optimization, extracting a limited number of principal components and using them as a basis of optimal motions. By combining these components, a good approximation of the optimal gaits can be generated at run time. The advantages of the presented approach are discussed, and an extensive experimental validation is carried out on a planar legged robot with elastic joints. The biped thus controlled is able to start and stop walking on a treadmill, and to control its speed dynamically as the treadmill speed changes.

VL - 3 ER -