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- W2003013030 abstract "This paper presents new methods to control highspeed running in a simulated humanoid robot at speeds of up to 6.5 m/s. We present methods to generate compliant target CoM dynamics through the use of a 3D spring-loaded inverted pendulum (SLIP) template model. A nonlinear least-squares optimizer is used to find periodic trajectories of the 3D-SLIP offline, while a local deadbeat SLIP controller provides reference CoM dynamics online at real-time rates to correct for tracking errors and disturbances. The local deadbeat controller employs common foot placement strategies that are automatically generated by a local analysis of the 3D-SLIP apex return map. A task-space controller is then applied online to select whole-body joint torques which embed these target dynamics into the humanoid. Despite the body of work on the 2D and 3D-SLIP models, to the best of the authors' knowledge, this is the first time that a SLIP model has been embedded into a whole-body humanoid model. When running at 3.5 m/s, the controller is shown to reject lateral disturbances of 40 N·s applied at the waist. A final demonstration shows the capability of the controller to stabilize running at 6.5 m/s, which is comparable with the speed of an Olympian in the 5000 meter run." @default.
- W2003013030 created "2016-06-24" @default.
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- W2003013030 date "2013-11-01" @default.
- W2003013030 modified "2023-10-01" @default.
- W2003013030 title "High-speed humanoid running through control with a 3D-SLIP model" @default.
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- W2003013030 doi "https://doi.org/10.1109/iros.2013.6697099" @default.
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