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Dynamic Gait transition of the adaptive HEXAQUABIP robot: From biped to quadruped and from quadruped to hexapod
Proposal context:
The aim of this research is to propose control strategies, including motion generation and decision algorithms, to change the morphology of the HQB robot according to the terrains and obstacles. Basically, this robot will be able to run like a cockroach (hexapod), to produce pace, trot and gallop like a horse, and to walk and run like a human being. The three main objectives are the following:
- Proposition of a method for gait generation and gait transition
- Modelization and simulation of the dynamic behavior for this novel structure for the different transitions processes
- Experimental validation for the dynamic gait transition of the adaptive HEXAQUABIP robot from biped to quadruped and quadruped to hexapod configuration
All the approaches known are not really universal and do not allow on-line dynamic adaptation of the robot motions as function of the environment and of the real capabilities of the system. Our objective is to carry out a more adaptive and universal approach based on the dynamic equations in order to generate walking gaits with a high dynamic behavior for a system which will be able to change its structure and its gaits intrinsically.
Research on a general method for gait generation (from biologic being) in order to achieve transition between different HQB mode:
Present research deals with the generation from human being of coordinated motions for dynamic walking of humanoid robots.
- The first objective is to determine the minimum set of parameters required to produce the motions of the locomotion apparatus of the human body during walking. By using human motion analysis, parameters are identified from position and orientation of lower body parts. Then the objective is to establish the spatial time free relationships between these parameters and one (or more) input variable which can be the average speed desired for humanoid robot in order to generate robust and stable coordinated motions. Finally, this kind of coordination is used to simulate the dynamic behavior of a virtual mock-up and to show that the obtained motions are very near from those captured during human walk.
Another part of this point is the adaptation of these spatial time free relationships to the HQB height and masse.
- The second objective is to put into practice the method from the first objective on a quadruped motion (from a selected quadruped being into the HQB quadruped mode).
- The third objective is to find common points between the two previous objectives to make the transition feasible
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| Figure 1 Markers set for the human motion capture |
Figure 2 Humanoid model (masse and height of the human) moving with he spatial time free relationship |
These three points define a general method to generate gait motion and transition between two modes (biped and quadruped). It is easy to imagine that methods for the motion of other HQB mode. |
Projects