Estimating zero moment point and floor reaction force using visual markers

2016 ◽  
Author(s):  
Kunihiro Ogata ◽  
Hideyuki Tanaka ◽  
Yoshio Matsumoto
Keyword(s):  
Reaction Force ◽  
Zero Moment Point ◽  
Visual Markers ◽  
Zero Moment ◽  
Floor Reaction Force

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.

scholarly journals Computation of ground reaction force using Zero Moment Point

2015 ◽  
Vol 48 (14) ◽  
pp. 3776-3781 ◽  
Author(s):  
Erik J. Dijkstra ◽  
Elena M. Gutierrez-Farewik
Keyword(s):  
Ground Reaction Force ◽  
Reaction Force ◽  
Zero Moment Point ◽  
Zero Moment

Near-Optimal Trajectory Generation of a Two-Legged Robot with Soft Sole on Staircase using PSO and ABC

2015 ◽  
Vol 3 (2) ◽  
pp. 1-19
Author(s):  
Naga Sudha Rani B ◽  
Vundavilli Pandu Ranga
Keyword(s):  
Dynamic Balance ◽  
Reaction Force ◽  
Biped Robot ◽  
Legged Robot ◽  
Walking Machine ◽  
Bee Colony ◽  
Zero Moment ◽  
Lumped Masses ◽  
Least Energy ◽  
Generation Problem

During biped locomotion the foot ground interaction plays an important role, as it takes the reaction force acting on the foot and allows stable walking of the biped robot. Generally, the foot is considered to be hard to solve the gait generation problem and dynamic balance aspects of the two-legged robot. However, a layer of rubber is placed on the sole of the robot to act as a shock absorber for all practical purposes. It is important to note that the soft sole gets deformed during walking of the robot and allows the limbs of the robot to bend that influences the dynamic balance of the walking machine. The aim of this study is to use two different non-traditional optimization algorithms, such as particle swarm optimization (PSO) and artificial bee colony (ABC) algorithms to obtain the optimal hip trajectory, damping coefficient and position of the lumped masses for a 7-DOF biped robot ascending the staircase. The dynamic balance of the gaits generated with soft sole is verified using the concept of zero moment point (ZMP). Further, the energy consumed in ascending the staircase with and without soft sole has been computed. The results of this study proved that, least energy is consumed with soft sole having correction for the deformation.

scholarly journals Dynamic Walking of a Legged Robot in Underwater Environments

Sensors ◽  
2019 ◽  
Vol 19 (16) ◽  
pp. 3588 ◽  
Author(s):  
Portilla ◽  
Saltarén ◽  
Espinosa ◽  
Barroso ◽  
Cely ◽  
...  
Keyword(s):  
Legged Robot ◽  
Dynamic Walking ◽  
Zero Moment Point ◽  
Hydraulic Actuators ◽  
External Perturbations ◽  
Underwater Environment ◽  
Zero Moment

In this research, the dynamic walking of a legged robot in underwater environments is proposed. For this goal, the underwater zero moment point (Uzmp) is proposed in order to generate the trajectory of the centre of the mass of the robot. Also, the underwater zero moment point auxiliary (Uzmp aux.) is employed to stabilize the balance of the robot before it undergoes any external perturbations. The concept demonstration of a legged robot with hydraulic actuators is developed. Moreover, the control that was used is described and the hydrodynamic variables of the robot are determined. The results demonstrate the validity of the concepts that are proposed in this article, and the dynamic walking of the legged robot in an underwater environment is successfully demonstrated.

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