000265808 001__ 265808
000265808 005__ 20190812204801.0
000265808 037__ $$aCONF
000265808 245__ $$aScalable closed-form trajectories for periodic and non-periodic human-like walking
000265808 260__ $$c2019
000265808 269__ $$a2019
000265808 300__ $$a7
000265808 336__ $$aConference Papers
000265808 520__ $$aWe present a new framework to generate human-like lower-limb trajectories in periodic and non-periodic walking. In our method, walking dynamics is encoded in 3LP, a linear simplified model composed of three pendulums to simulate falling, swing, and torso balancing dynamics. To stabilize the motion, we use an optimal time-projecting controller which suggests new footstep locations. On top of gait generation and stabilization in the simplified space, we introduce a kinematic conversion that synthesizes more human-like trajectories by combining geometric variables of the 3LP model adaptively. Without any tuning, numerical optimization or off-line data, our walking gaits are scalable with respect to body properties and gait parameters. We can change body mass and height, walking direction, speed, frequency, double support time, torso style, ground clearance, and terrain inclinations. We can also simulate constant external dragging forces or momentary perturbations. The proposed framework offers closed-form solutions with simulation speeds orders of magnitude faster than real time. This can be used for video games and animations on portable electronic devices with limited power. It also gives insights for generation of more human-like walking gaits on humanoid robots.
000265808 700__ $$aFaraji, Salman$$0247608$$g210551
000265808 700__ $$0241344$$aIjspeert, Auke$$g115955
000265808 7112_ $$aInternational Conference on Robotics and Automation (ICRA)$$cMontreal, Canada$$dMay 19-24, 2019
000265808 8560_ $$fsalman.faraji@epfl.ch
000265808 909CO $$pconf$$ooai:infoscience.epfl.ch:265808
000265808 960__ $$asalman.faraji@epfl.ch
000265808 961__ $$apierre.devaud@epfl.ch
000265808 973__ $$aEPFL$$rREVIEWED
000265808 980__ $$aCONF
000265808 981__ $$aoverwrite
000265808 999C0 $$zMarselli, Béatrice$$xU12165$$pBIOROB$$mauke.ijspeert@epfl.ch$$0252049