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Title: Dynamic Walking: Toward Agile and Efficient Bipedal Robots
Dynamic walking on bipedal robots has evolved from an idea in science fiction to a practical reality. This is due to continued progress in three key areas: a mathematical understanding of locomotion, the computational ability to encode this mathematics through optimization, and the hardware capable of realizing this understanding in practice. In this context, this review outlines the end-to-end process of methods that have proven effective in the literature for achieving dynamic walking on bipedal robots. We begin by introducing mathematical models of locomotion, from reduced-order models that capture essential walking behaviors to hybrid dynamical systems that encode the full-order continuous dynamics along with discrete foot-strike dynamics. These models form the basis for gait generation via (nonlinear) optimization problems. Finally, models and their generated gaits merge in the context of real-time control, wherein walking behaviors are translated to hardware. The concepts presented are illustrated throughout in simulation, and experimental instantiations on multiple walking platforms are highlighted to demonstrate the ability to realize dynamic walking on bipedal robots that is both agile and efficient.  more » « less
Award ID(s):
1924526 1923239 1239055 0953823 1526519 1136104 1544857
NSF-PAR ID:
10281466
Author(s) / Creator(s):
;
Date Published:
Journal Name:
Annual Review of Control, Robotics, and Autonomous Systems
Volume:
4
Issue:
1
ISSN:
2573-5144
Page Range / eLocation ID:
535 to 572
Format(s):
Medium: X
Sponsoring Org:
National Science Foundation
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