Omnidirectional Bipedal Walking with Direct Fused Angle Feedback Mechanisms

The video illustrates the approach of Philipp Allgeuer and Sven Behnke: "Omnidirectional Bipedal Walking with Direct

Fused Angle Feedback Mechanisms"

Accepted for IEEE-RAS International Conference on Humanoid Robots (Humanoids), Cancun, Mexico, December 2016.

http://www.ais.uni-bonn.de/papers/Hum...

Abstract—An omnidirectional closed-loop gait based on the

direct feedback of orientation deviation estimates is presented

in this paper. At the core of the gait is an open-loop central

pattern generator. The orientation feedback is derived from

a 3D nonlinear attitude estimator, and split into the relevant

angular deviations in the sagittal and lateral planes using the

concept of fused angles. These angular deviations from expected

are used by a number of independent feedback mechanisms,

including one that controls timing, to perform stabilising

corrective actions. The tuning of the feedback mechanisms

is discussed, including an LQR-based approach for tuning

the transient sagittal response. The actuator control scheme

and robot pose representations in use are also addressed.

Experimental results on an igusr Humanoid Open Platform

demonstrate the core concept of this paper, that if the sensor

management and feedback chains are carefully constructed,

comparatively simple model-free and robot-agnostic feedback

mechanisms can successfully stabilise a generic bipedal gait.