Virtual holonomic constraint approach for planar bipedal walking robots extended to double support

2009 ◽  
Author(s):  
Michael Scheint ◽  
Marion Sobotka ◽  
Martin Buss
Keyword(s):  
Bipedal Walking ◽  
Walking Robots ◽  
Holonomic Constraint ◽  
Double Support ◽  
Constraint Approach

ZMP-Based Trajectory Generation for Bipedal Robots Using Quadratic Programming

2020 ◽  
pp. 266-285
Author(s):  
Sergei Savin
Keyword(s):  
Numerical Simulation ◽  
Quadratic Programming ◽  
Center Of Mass ◽  
Trajectory Generation ◽  
Bipedal Walking ◽  
Walking Robots ◽  
Bipedal Robots ◽  
Change Of Variables ◽  
Viable Solution ◽  
Modern Optimization

In this chapter, the problem of trajectory generation for bipedal walking robots is considered. A number of modern techniques are discussed, and their limitations are shown. The chapter focuses on zero-moment point methods for trajectory generation, where the desired trajectory of that point can be used to allow the robot to keep vertical stability if followed, and presents an instrument to calculate the desired trajectory for the center of mass for the robot. The chapter presents an algorithm based on quadratic programming, with an introduction of a slack variable to make the problem feasible and a change of variables to improve the numeric properties of the resulting optimization problem. Modern optimization tools allow one to solve such problems in real time, making it a viable solution for trajectory planning for the walking robots. The chapter shows a few results from the numerical simulation made for the algorithm, demonstrating its properties.

scholarly journals Tegotae-Based Control Produces Adaptive Inter- and Intra-limb Coordination in Bipedal Walking

2021 ◽  
Vol 15 ◽  
Author(s):  
Dai Owaki ◽  
Shun-ya Horikiri ◽  
Jun Nishii ◽  
Akio Ishiguro
Keyword(s):  
Central Pattern Generator ◽  
Environmental Changes ◽  
Sensory Information ◽  
Motor Command ◽  
Pattern Generator ◽  
Bipedal Walking ◽  
Walking Robots ◽  
Two Dimensional ◽  
Limb Coordination ◽  
Systematic Methodology

Despite the appealing concept of central pattern generator (CPG)-based control for bipedal walking robots, there is currently no systematic methodology for designing a CPG-based controller. To remedy this oversight, we attempted to apply the Tegotae approach, a Japanese concept describing how well a perceived reaction, i.e., sensory information, matches an expectation, i.e., an intended motor command, in designing localised controllers in the CPG-based bipedal walking model. To this end, we developed a Tegotae function that quantifies the Tegotae concept. This function allowed incorporating decentralised controllers into the proposed bipedal walking model systematically. We designed a two-dimensional bipedal walking model using Tegotae functions and subsequently implemented it in simulations to validate the proposed design scheme. We found that our model can walk on both flat and uneven terrains and confirmed that the application of the Tegotae functions in all joint controllers results in excellent adaptability to environmental changes.

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