首页|DARPA Robotics Grand Challenge Participation and Ski-Type Gait for Rough-Terrain Walking
DARPA Robotics Grand Challenge Participation and Ski-Type Gait for Rough-Terrain Walking
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In this paper, we briefly introduce the history of the Defense Advanced Research Projects Agency (DARPA) Grand Challenge programs with particular focus on the 2012 Robotics Challenge.As members of team DRC-HUBO,we propose different approaches for the Rough-Terrain task, such as enlarged foot pedals and a transformation into quadruped walking.We also introduce a new gait for humanoid robot locomotion to improve stability performance, called the Ski-Type gait.We analyze the stability performance of this gait and use the stability margin to choose between two candidate step sequences, Crawl-1 and Crawl-2.Next, we perform a force/torque analysis for the redundant closedchain system in the Ski-Type gait, and determine the joint torques by minimizing the total energy consumption.Based on the stability and force/torque analysis, we design a cane length to support a feasible and stable Crawl-2 gait on the HUBO2 humanoid robot platform.Finally, we compare our experimental results with biped walking to validate the Ski-Type gait.We also present our team performance in the trials of the Robotics Challenge.
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