Nonholonomic Virtual Constraints and Gait Optimization for Robust Walking Control

Simulations: 0:00, Indoor Experiments: 1:14, Outdoor Experiments: 3:36.
This video shows simulation and experimental results for "Nonholonomic Virtual Constraints and Gait Optimization for Robust Walking Control" (http://web.eecs.umich.edu/faculty/grizzle/papers/NonholonomicVirtualConstraints_IJRR_GrGr17.pdf). Outdoor experiments set a new precedent for walking efficiency by achieving the lowest mechanical cost of transport (MCOT) of any unsupported bipedal robot tested over rough terrain. In addition, this precedent is set at a faster speed than any other bipedal robot efficiency benchmark (see Fig. 26 in http://web.eecs.umich.edu/faculty/grizzle/papers/NonholonomicVirtualConstraints_IJRR_GrGr17.pdf).

Source code for control design and simulation is available at www.griffb.com/s/NHVC3DSim_BAG160728.zip.

Видео Nonholonomic Virtual Constraints and Gait Optimization for Robust Walking Control канала Michigan Robotics: Dynamic Legged Locomotion Lab