“My first Internship taught me how to work with biped robots. Since then, I have been interested in navigation of legged robots in complex real-world environment”

Upslope Solution using Angular Linear Inverted Pendulum (ALIP) Model for a Biped Robot

DIGIT - Agility Robotics in MuJoCo Simulation

The central objective of my research was to study the template models for locomotion such as the Angular Linear Inverted Pendulum (ALIP) and optimize a mathematical solution for complex environments; including upslope and downslope solutions.

ALIP Model Implementation

ALIP Solution

To simulate results easily, a Kinematic model [Rabbit] of the biped robot was designed to test the ALIP model on both upslope and downslope solutions.

Testing on Digit

Results Obtained

Sloped Terrain w/o correction

Sloped Terrain with correction of upslope lateral foot