Data Driven Computational Model for Bipedal Walking and Push Recovery

by   Vijay Bhaskar Semwal, et al.

In this research, we have developed the data driven computational walking model to overcome the problem with traditional kinematics based model. Our model is adaptable and can adjust the parameter morphological similar to human. The human walk is a combination of different discrete sub-phases with their continuous dynamics. Any system which exhibits the discrete switching logic and continuous dynamics can be represented using a hybrid system. In this research, the bipedal locomotion is analyzed which is important for understanding the stability and to negotiate with the external perturbations. We have also studied the other important behavior push recovery. The Push recovery is also a very important behavior acquired by human with continuous interaction with environment. The researchers are trying to develop robots that must have the capability of push recovery to safely maneuver in a dynamic environment. The push is a very commonly experienced phenomenon in cluttered environment. The human beings can recover from external push up to a certain extent using different strategies of hip, knee and ankle. The different human beings have different push recovery capabilities. For example a wrestler has a better push negotiation capability compared to normal human beings. The push negotiation capability acquired by human, therefore, is based on learning but the learning mechanism is still unknown to researchers. The research community across the world is trying to develop various humanoid models to solve this mystery. Seeing all the conventional mechanics and control based models have some inherent limitations, a learning based computational model has been developed to address effectively this issue. In this research we will discuss how we have framed this problem as hybrid system.


page 2

page 35

page 36

page 37

page 38

page 39


A Hierarchical Framework to Generate Robust Biped Locomotion Based on Divergent Component of Motion

Keeping the stability can be counted as the essential ability of a human...

Footstep Adjustment for Biped Push Recovery on Slippery Surfaces

Despite extensive studies on motion stabilization of bipeds, they still ...

Study of Human Push Recovery

Walking and push recovery controllers for humanoid robots have advanced ...

Learning to Improve Capture Steps for Disturbance Rejection in Humanoid Soccer

Over the past few years, soccer-playing humanoid robots have advanced si...

On the Emergence of Whole-body Strategies from Humanoid Robot Push-recovery Learning

Balancing and push-recovery are essential capabilities enabling humanoid...

DeepQ Stepper: A framework for reactive dynamic walking on uneven terrain

Reactive stepping and push recovery for biped robots is often restricted...

Please sign up or login with your details

Forgot password? Click here to reset