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Engineering    2015, Vol. 1 Issue (1) : 36 -45
Research |
DARPA Robotics Grand Challenge Participation and Ski-Type Gait for Rough-Terrain Walking
Hongfei Wang,Shimeng Li,Yuan F. Zheng()
Department of Electrical and Computer Engineering, Ohio State University, Columbus, OH 43210, USA

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 closed-chain 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.

Keywords humanoid robot      DARPA robotics challenge (DRC)      rough-terrain walking      Ski-Type gait     
Corresponding Authors: Yuan F. Zheng   
Just Accepted Date: 31 March 2015   Issue Date: 02 July 2015
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Hongfei Wang
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Hongfei Wang,Shimeng Li,Yuan F. Zheng. DARPA Robotics Grand Challenge Participation and Ski-Type Gait for Rough-Terrain Walking[J]. Engineering, 2015, 1(1): 36 -45 .
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