Dynamic Walking on Randomly-Varying Discrete Terrain with One-step Preview

One of the primary inspirations for working with bipedal walking robots is the ability to navigate rough terrain with discrete footholds, such as stepping stones. While existing work considers the problem of walking over stepping stones at extremely slow speeds with quasi-static stability, we present a novel methodology to achieve dynamic walking over stepping stones with significant random changes to step length at each step. We construct 2-step periodic gaits that enables us to not only consider the desired location of the next footstep but also the current configuration of the robot, thereby resolving the problem of step transition when we switch between different walking gaits in real-time. Our approach enables ATRIAS (an underactuated bipedal robot) to dynamically walk over a random terrain of stepping stones with step-length varied within 23 cm to 78 cm and with an average walking speed of 0.6 (m/s).
Simulation Video: https://youtu.be/Pxhb4_ojiC8

Видео Dynamic Walking on Randomly-Varying Discrete Terrain with One-step Preview канала Hybrid Robotics