Initial investigation into bipedal turning: A trajectory optimization study

Humans and animals leverage agility to negotiate the unpredictable environments we occupy. In order for legged robots leave sterile lab environments, they need be agile enough our lives. Currently, human is far superior state-of-the-art robotic platforms. Replicating this on platforms require a profound understanding of how contact events are leveraged complete tasks. line with aim, letter was an initial investigation into bipedal turning, gain insight turning achieved, identify any kinematic trends that emerged from optimization results. This research conducted simulated 10 DoF non-planar platform point feet, made use realistic friction cone, not linearized approximation. The mathematical model used based robot currently under development. Two experiments were conducted: rapid turns fixed turn angle at varying speeds, angles speed. Results indicated slip occurred 93.32% duration, overshoot present in all trajectories analyzed. Additionally, long-time-horizon trajectory presented motivate feasibility stability studied.