Walking Stability of a Humanoid Robot Based on Fictitious Zero-Moment Point

2006 ◽  
Author(s):  
Chenbo Yin ◽  
Qingmin Zhou ◽  
Le Xiao
Keyword(s):  
Humanoid Robot ◽  
Zero Moment Point ◽  
Zero Moment

Dynamical Model of Walking Transition Considering Nonlinear Friction with Floor

2016 ◽  
Vol 20 (6) ◽  
pp. 974-982 ◽  
Author(s):  
Xiang Li ◽  
◽  
Hiroki Imanishi ◽  
Mamoru Minami ◽  
Takayuki Matsuno ◽  
...  
Keyword(s):  
Humanoid Robot ◽  
Dynamical Equation ◽  
Control Method ◽  
Dynamical Model ◽  
Reliable Control ◽  
Biped Locomotion ◽  
Nonlinear Friction ◽  
View Point ◽  
Zero Moment Point ◽  
Zero Moment

Biped locomotion created by a controller based on Zero-Moment Point (ZMP) known as reliable control method looks different from human’s walking on the view point that ZMP-based walking does not include falling state, and it’s like monkey walking because of knee-bended walking profiles. However, the walking control that does not depend on ZMP is vulnerable to turnover. Therefore, keeping the event-driven walking of dynamical motion stable is important issue for realization of human-like natural walking. In this research, a walking model of humanoid robot including slipping, bumping, surface-contacting and line-contacting of foot is discussed, and its dynamical equation is derived by the Extended NE method. In this paper we introduce the humanoid model which including the slipping foot and verify the model.

scholarly journals CYCLOIDAL GAIT WITH DOUBLE SUPPORT PHASE FOR THE NAO HUMANOID ROBOT

2019 ◽  
Vol 6 ◽  
pp. 83-94
Author(s):  
Jesus E. Fierro P. ◽  
J. Alfonso Pamanes G. ◽  
Victor De-Leon-Gomez
Keyword(s):  
Humanoid Robot ◽  
Experimental Tests ◽  
Zero Moment Point ◽  
Double Support ◽  
Revolute Joints ◽  
Zero Moment ◽  
The Stability ◽  
Reduced Mobility ◽  
Support Phase ◽  
Double Support Phase

The commercial Nao humanoid robot has 11 DOF in legs. Even if these legs include 12 revolute joints, only 11 actuators are employed to control the walking of the robot. Under such conditions, the mobility of the pelvis and that of the oscillating foot are mutually constrained at each step. Besides, the original gait provided by the manufacturer company of the Nao employs only single support phases during the walking. Because of both issues, the reduced mobility in legs and the use of only single support phases, the stability of the walking is affected. To contribute to improving such stability, in this paper an approach is proposed that incorporates a double support phase and a gait based on cycloidal time functions for motions of the pelvis and those of the oscillating foot. To assess the stability of the walking an index is applied, which is based on the notion of zero-moment point (ZMP) of the static foot at each step. Results of experimental tests show that the proposed gait enhances the stability of the robot during the walking.

Emulation of Human Walking by Biped Humanoid Robot with Heel-Contact and Toe-Off Motion

2008 ◽  
Vol 20 (5) ◽  
pp. 739-749 ◽  
Author(s):  
Hideki Kondo ◽  
◽  
Yu Ogura ◽  
Kazushi Shimomura ◽  
Shimpei Momoki ◽  
...  
Keyword(s):  
Genetic Algorithm ◽  
Motion Capture ◽  
Ground Reaction Force ◽  
Humanoid Robot ◽  
Reaction Force ◽  
Pattern Generation ◽  
Human Walking ◽  
Zero Moment Point ◽  
Heel Contact ◽  
Zero Moment

The foot mechanism and pattern generation we propose for a biped humanoid robot achieves human-like heel-contact toe-off walking. Placing its heel and toes simultaneously on the ground while walking makes it difficult for a robot to take long strides and mimic human gaits. To solve this problem, we developed a biped foot with one passive toe joint based on human gaits analyzed by motion capture and propose pattern generation for human-like walking based on the zero moment point (ZMP) criterion. Using a genetic algorithm, we optimize walking parameters to generate continuous, smooth foot trajectories. Results of experiments in heel-contact toe-off walking in ground reaction force (GRF) using the biped humanoid robot WABIAN-2 demonstrated the similarity between proposed and human walking.

ZMP Based Motion Stability Analysis of a Wheeled Humanoid Robot with Bending Torso

2016 ◽  
Vol 851 ◽  
pp. 497-502
Author(s):  
Si Yu Xia ◽  
Qiang Zhan ◽  
Ahmed Rahmani
Keyword(s):  
Stability Analysis ◽  
Humanoid Robot ◽  
Center Of Gravity ◽  
Chain Rule ◽  
Point Method ◽  
Zero Moment Point ◽  
Motion Stability ◽  
Simulation Results ◽  
Zero Moment ◽  
High Center

Motion stability is the most important issue to be considered when designing a wheeled humanoid robot with bending torso, as it’s easy to capsize because of its high center of gravity. With ZMP (Zero Moment Point) method the motion stability of a wheeled humanoid robot with bending torso was analyzed. At first, the chain rule was used to model the kinematics of the wheeled humanoid robot, and then the process of calculating the ZMP of the robot was presented. With MATLAB the motion stability of the humanoid robot in three typical conditions is simulated and analyzed, and the simulation results were used to optimize some parameters of a wheeled humanoid robot we are designing.

scholarly journals A Robust Balance-Control Framework for the Terrain-Blind Bipedal Walking of a Humanoid Robot on Unknown and Uneven Terrain

Sensors ◽  
2019 ◽  
Vol 19 (19) ◽  
pp. 4194 ◽  
Author(s):  
Hyun-Min Joe ◽  
Jun-Ho Oh
Keyword(s):  
Humanoid Robot ◽  
Balance Control ◽  
Humanoid Robots ◽  
Bipedal Walking ◽  
Leg Length ◽  
Zero Moment Point ◽  
Uneven Terrain ◽  
Control Framework ◽  
Zero Moment ◽  
Capture Point

Research on a terrain-blind walking control that can walk stably on unknown and uneven terrain is an important research field for humanoid robots to achieve human-level walking abilities, and it is still a field that needs much improvement. This paper describes the design, implementation, and experimental results of a robust balance-control framework for the stable walking of a humanoid robot on unknown and uneven terrain. For robust balance-control against disturbances caused by uneven terrain, we propose a framework that combines a capture-point controller that modifies the control reference, and a balance controller that follows its control references in a cascading structure. The capture-point controller adjusts a zero-moment point reference to stabilize the perturbed capture-point from the disturbance, and the adjusted zero-moment point reference is utilized as a control reference for the balance controller, comprised of zero-moment point, leg length, and foot orientation controllers. By adjusting the zero-moment point reference according to the disturbance, our zero-moment point controller guarantees robust zero-moment point control performance in uneven terrain, unlike previous zero-moment point controllers. In addition, for fast posture stabilization in uneven terrain, we applied a proportional-derivative admittance controller to the leg length and foot orientation controllers to rapidly adapt these parts of the robot to uneven terrain without vibration. Furthermore, to activate position or force control depending on the gait phase of a robot, we applied gain scheduling to the leg length and foot orientation controllers, which simplifies their implementation. The effectiveness of the proposed control framework was verified by stable walking performance on various uneven terrains, such as slopes, stone fields, and lawns.

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