Running pattern generation for a humanoid robot

2003 ◽  
Author(s):  
S. Kajita ◽  
T. Nagasaki ◽  
K. Yokoi ◽  
K. Kaneko ◽  
K. Tanie
Keyword(s):  
Humanoid Robot ◽  
Pattern Generation ◽  
Running Pattern

scholarly journals Running Pattern Generation for a Humanoid Robot

2003 ◽  
Vol 21 (8) ◽  
pp. 902-908 ◽  
Author(s):  
Takashi Nagasaki ◽  
Shuuji Kajita ◽  
Kazuhito Yokoi ◽  
Kenji Kaneko ◽  
Hirohisa Hirukawa ◽  
...  
Keyword(s):  
Humanoid Robot ◽  
Pattern Generation ◽  
Running Pattern

Running Pattern Generation for a Humanoid Robot : Calculation of Joint Specifications

2002 ◽  
Vol 2002 (0) ◽  
pp. 100 ◽  
Author(s):  
T. Nagasaki ◽  
S. Kajita ◽  
K. Yokoi ◽  
K. Kaneko ◽  
H. Hirukawa ◽  
...  
Keyword(s):  
Humanoid Robot ◽  
Pattern Generation ◽  
Running Pattern

RUNNING PATTERN GENERATION OF HUMANOID BIPED WITH A FIXED POINT AND ITS REALIZATION

2009 ◽  
Vol 06 (04) ◽  
pp. 631-656 ◽  
Author(s):  
BAEK-KYU CHO ◽  
ILL-WOO PARK ◽  
JUN-HO OH
Keyword(s):  
Fixed Point ◽  
Angular Momentum ◽  
Sagittal Plane ◽  
Center Of Mass ◽  
Maximum Velocity ◽  
Frontal Plane ◽  
Numerical Approach ◽  
Pattern Generation ◽  
Upper Body ◽  
Running Pattern

This paper discusses the generation of a running pattern for a humanoid biped and verifies the validity of the proposed method of running pattern generation via experiments. Two running patterns are generated independently in the sagittal plane and in the frontal plane and the two patterns are then combined. When a running pattern is created with resolved momentum control in the sagittal plane, the angular momentum of the robot about the Center of Mass (COM) is set to zero, as the angular momentum causes the robot to rotate. However, this also induces unnatural motion of the upper body of the robot. To solve this problem, the biped was set as a virtual under-actuated robot with a free joint at its support ankle, and a fixed point for a virtual under-actuated system was determined. Following this, a periodic running pattern in the sagittal plane was formulated using the fixed point. The fixed point is easily determined in a numerical approach. In this way, a running pattern in the frontal plane was also generated. In an experiment, a humanoid biped known as KHR-2 ran forward using the proposed running pattern generation method. Its maximum velocity was 2.88 km/h.

scholarly journals Bipedal walking pattern generation and control for humanoid robot with bivariate stability margin optimization

2018 ◽  
Vol 10 (9) ◽  
pp. 168781401880088
Author(s):  
Liang Yang ◽  
Zhi Liu ◽  
Yong Chen
Keyword(s):  
Neural Networks ◽  
Vector Function ◽  
Random Vector ◽  
Humanoid Robot ◽  
Stability Margin ◽  
Pattern Generation ◽  
Bipedal Walking ◽  
Walking Pattern ◽  
Control Scheme ◽  
Walking Pattern Generation

This article concentrates on the problem of walking pattern generation and online control for humanoid robot. However, it is challenging and thus still remains open so far in the field of bipedal locomotion control. In this article, we solve this problem by proposing a bivariate-stability-margin-based control scheme, in which a random vector function-link neural networks mechanism is additionally contained. By utilizing opposition-based learning algorithm to generate walking patterns and designing random vector function-link neural networks for compensating the combination of zero-moment point error and modeling error, the new walking controller exhibits good performance. Moreover, a bivariate-stability-margin-based fuzzy logic system is proposed to assign a weight to each training sample according to locomotion stability. With these results, a walking control system is successfully established and experiments validate the proposed control scheme.

G151014 Walking Stability Control and Pattern Generation for Biped Humanoid Robot

2013 ◽  
Vol 2013 (0) ◽  
pp. _G151014-1-_G151014-4
Author(s):  
Yuki Kamogawa ◽  
Kouhei Yamada ◽  
Hiroyuki Masuta ◽  
Hun-ok Lim
Keyword(s):  
Humanoid Robot ◽  
Stability Control ◽  
Pattern Generation

Optimal gait planning for humanoids with 3D structure walking on slippery surfaces

Robotica ◽  
2015 ◽  
Vol 35 (3) ◽  
pp. 569-587 ◽  
Author(s):  
Majid Khadiv ◽  
S. Ali A. Moosavian ◽  
Aghil Yousefi-Koma ◽  
Majid Sadedel ◽  
Saeed Mansouri
Keyword(s):  
Coefficient Of Friction ◽  
Humanoid Robot ◽  
3D Structure ◽  
Optimization Procedure ◽  
Pattern Generation ◽  
Friction Forces ◽  
Gait Planning ◽  
Walking Pattern ◽  
Planning Procedure ◽  
Optimal Gait

SUMMARYIn this study, a gait optimization routine is developed to generate walking patterns which demand the lowest friction forces for implementation. The aim of this research is to fully address the question “which walking pattern demands the lowest coefficient of friction amongst all feasible patterns?”. To this end, first, the kinematic structure of the considered 31 DOF (Degrees of Freedom) humanoid robot is investigated and a closed-form dynamics model for its lower-body is developed. Then, the medium through which the walking pattern generation is conducted is presented. In this medium, after designing trajectories for the feet and the pelvis, the joint space variables are obtained, using the inverse kinematics. Finally, by employing a genetic algorithm (GA), an optimization process is conducted to generate walking patterns with the minimum Required Coefficient Of Friction (RCOF). Six parameters are adopted to parameterize the pelvis trajectory and are exploited as the design variables in this optimization procedure. Also, a parametrical study is accomplished to address the effects of some other variables on RCOF. For comparison purposes, a tip-over Stability Margin (SM) is defined, and an optimization procedure is conducted to maximize this margin. Finally, the proposed gait planning procedure is implemented on SURENA III, a humanoid robot designed and fabricated in CAST, to validate the developed simulation procedure. The obtained results reveal merits of the proposed optimal gait planning procedure in terms of RCOF.

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