scholarly journals Arms Swing Effects on a Walking Planar Biped

2012 ◽  
Author(s):  
Bassel Kaddar ◽  
Yannick Aoustin ◽  
Christine Chevallereau
Keyword(s):  
Energy Consumption ◽  
Parametric Optimization ◽  
Energy Criterion ◽  
Biped Robot ◽  
Optimization Method ◽  
Robot Kinematics ◽  
Kinematics And Dynamics ◽  
Flat Foot ◽  
Walking Gait ◽  
One Step

A walking gait is designed for a planar biped with two identical three-link legs, a trunk and two one-link arms. This nine-link biped is controlled via eight torques to obtain one step of a cyclic gait. The scope of this paper is to investigate the effects of arms swing on the energy consumption during walking of a fully actuated planar biped robot. Kinematics and dynamics of a biped, HYDROID, are used for this study. Desired gaits are considered to be cyclic having single support phases separated by flat foot impacts. Different evolutions of the arms: arms held, arms bound and arms swing are compared. For each case, we use a parametric optimization method with constraints to produce reference cyclic trajectories according to an energy criterion. The numerical results show that this criterion is lower in the case where the arms swing.

Stable walking control of a 3D biped robot with foot rotation

Robotica ◽  
2013 ◽  
Vol 32 (4) ◽  
pp. 551-570 ◽  
Author(s):  
Ting Wang ◽  
Christine Chevallereau ◽  
David Tlalolini
Keyword(s):  
Linear Combination ◽  
Biped Robot ◽  
Control Law ◽  
Reference Trajectory ◽  
Joint Angles ◽  
Flat Foot ◽  
Loop Control ◽  
Walking Gait ◽  
Initial Errors ◽  
Rotation Phase

SUMMARYIn order to obtain a more human-like walking and less energy consumption, ait foot rotation phaseis considered in the single support phase of a 3D biped robot, in which the stance heel lifts from the ground and the stance foot rotates about the toe. Since there is no actuation at the toe, a walking phase of the robot is composed of a fully actuated phase and an under-actuated phase. The objective of this paper is to present an asymptotically stable walking controller that integrates these two phases. To get around the under-actuation issue, a strict monotonic parameter of the robot is used to describe the reference trajectory instead of using the time parameter. The overall control law consists of a zero moment point (ZMP) controller, a swing ankle rotation controller and a partial joint angles controller. The ZMP controller guarantees that the ZMP follows the desired ZMP. The swing ankle rotation controller assures a flat-foot impact at the end of the swinging phase. Each of these controllers creates two constraints on joint accelerations. In order to determine all the desired joint accelerations from the control law, a partial joint angles controller is implemented. A word “partial” emphasizes the fact that not all the joint angles can be controlled. The outputs controlled by a partial joint angles controller are defined as a linear combination of all the joint angles. The most important question addressed in this paper is how this linear combination can be defined in order to ensure walking stability. The stability of the walking gait under closed-loop control is evaluated with the linearization of the restricted Poincaré map of the hybrid zero dynamics. Finally, simulation results validate the effectiveness of the control law even in presence of initial errors and modelling errors.

A novel online gait optimization approach for biped robots with point-feet

2019 ◽  
Vol 25 ◽  
pp. 81
Author(s):  
Majid Anjidani ◽  
M.R. Jahed Motlagh ◽  
M. Fathy ◽  
M. Nili Ahmadabadi
Keyword(s):  
Learning Algorithm ◽  
Biped Robot ◽  
Optimization Method ◽  
Optimization Approach ◽  
Loop Model ◽  
Modeling Error ◽  
Environment Change ◽  
Biped Robots ◽  
Walking Gait ◽  
New Situation

Designing a stable walking gait for biped robots with point-feet is stated as a constrained nonlinear optimization problem which is normally solved by an offline numerical optimization method. On the result of an unknown modeling error or environment change, the designed gait may be ineffective and an online gait improvement is impossible after the optimization. In this paper, we apply Generalized Path Integral Stochastic Optimal Control to closed-loop model of planar biped robots with point-feet which leads to an online Reinforcement Learning algorithm to design the walking gait. We study the ability of the proposed method to adapt the controller of RABBIT, which is a planar biped robot with point-feet, for stable walking. The simulation results show that the method, starting a dynamically unstable initial gait, quickly compensates the modeling error and reaches to a walking with exponential stability and desired features in a new situation which was impossible by the past methods.

Torso pitch motion effects on walking gait for biped robots

2021 ◽  
pp. 1-11
Author(s):  
Long Li ◽  
Zhongqu Xie ◽  
Xiang Luo ◽  
Juanjuan Li ◽  
Yufeng He
Keyword(s):  
Energy Consumption ◽  
Biped Robot ◽  
Gait Pattern ◽  
Optimization Criterion ◽  
Pattern Generation ◽  
Biped Robots ◽  
Unit Distance ◽  
Pitch Motion ◽  
Walking Gait ◽  
Gait Parameters

Gait pattern generation has an important influence on the walking quality of biped robots. In most gait pattern generation method, it is usually assumed that the torso remains vertial during walking. It is very intuitive and simple. However, is the gait pattern of keeping the torso vertical the most efficient? This paper presents a gait pattern in which the torso has pitch motion during walking. We define the cyclic gait of a seven-link biped robot with multiple gait parameters. The gait parameters are determined by optimization. The optimization criterion is choosen to minimize the energy consumption per unit distance of the biped robot. In order to compare the energy consumption of the proposed gait pattern with the one of torso vertical gait pattern, we generate two sets of optimal gait with various walking step lengths and walking periods. The results show that the proposed gait pattern is more energy-efficiency than the torso vertical gait pattern.

Stability Region-Based Analysis of Walking and Push Recovery Control

2021 ◽  
Vol 13 (3) ◽  
Author(s):  
William Z. Peng ◽  
Hyunjong Song ◽  
Joo H. Kim
Keyword(s):  
Sagittal Plane ◽  
Center Of Mass ◽  
Biped Robot ◽  
Optimization Method ◽  
Order System ◽  
Double Support ◽  
Push Recovery ◽  
One Step ◽  
To Come ◽  
Time Required

Abstract To achieve walking and push recovery successfully, a biped robot must be able to determine if it can maintain its current contact configuration or transition into another one without falling. In this study, the ability of a humanoid robot to maintain single support (SS) or double support (DS) contact and to achieve a step are represented by balanced and steppable regions, respectively, as proposed partitions of an augmented center-of-mass-state space. These regions are constructed with an optimization method that incorporates full-order system dynamics, system properties such as kinematic and actuation limits, and contact interactions with the environment in the two-dimensional sagittal plane. The SS balanced, DS balanced, and steppable regions are obtained for both experimental and simulated walking trajectories of the robot with and without the swing foot velocity constraint to evaluate the contribution of the swing leg momentum. A comparative analysis against one-step capturability, the ability of a biped to come to a stop after one step, demonstrates that the computed steppable region significantly exceeds the one-step capturability of an equivalent reduced-order model. The use of balanced regions to characterize the full balance capability criteria of the system and benchmark controllers is demonstrated with three push recovery controllers. The implemented hip–knee–ankle controller resulted in improved stabilization with respect to decreased foot tipping and time required to balance, relative to an existing hip–ankle controller and a gyro balance feedback controller.

scholarly journals An Interoperable BIM-Based Toolkit for Efficient Renovation in Buildings

Buildings ◽  
2021 ◽  
Vol 11 (7) ◽  
pp. 271
Author(s):  
Bruno Daniotti ◽  
Cecilia Maria Bolognesi ◽  
Sonia Lupica Spagnolo ◽  
Alberto Pavan ◽  
Martina Signorini ◽  
...  
Keyword(s):  
Energy Consumption ◽  
Management System ◽  
Linked Data ◽  
Research Question ◽  
Digital Tools ◽  
European Research ◽  
Construction Sector ◽  
Research Project ◽  
One Step ◽  
Data Environment

Since the buildings and construction sector is one of the main areas responsible for energy consumption and emissions, focusing on their refurbishment and promoting actions in this direction will be helpful to achieve an EU Agenda objective of making Europe climate-neutral by 2050. One step towards the renovation action is the exploitation of digital tools into a BIM framework. The scope of the research contained in this paper is to improve the management of information throughout the different stages of the renovation process, allowing an interoperable exchange of data among the involved stakeholders; the development of an innovative BIM-based toolkit is the answer to the research question. The research and results obtained related with the development of an interoperable BIM-based toolkit for efficient renovation in buildings in the framework of the European research project BIM4EEB. Specifically, the developed BIM management system allows the exchange of the data among the different tools, using open interoperable formats (as IFC) and linked data, in a Common Data Environment, to be used by the different stakeholders. Additionally, the developed tools allow the stakeholders to manage different stages of the renovation process, facilitating efficiencies in terms of time reduction and improving the resulting quality. The validity of each tool with respect to existing practices is demonstrated here, and the strengths and weaknesses of the proposed tools are described in the workflow detailing issues such as interoperability, collaboration, integration of different solutions, and time consuming existing survey processes.

scholarly journals Effects of Torso Pitch Motion on Energy Efficiency of Biped Robot Walking

2021 ◽  
Vol 11 (5) ◽  
pp. 2342
Author(s):  
Long Li ◽  
Zhongqu Xie ◽  
Xiang Luo ◽  
Juanjuan Li
Keyword(s):  
Energy Efficiency ◽  
Energy Consumption ◽  
Biped Robot ◽  
Gait Pattern ◽  
Pattern Generation ◽  
Biped Robots ◽  
Pitch Motion ◽  
Double Support ◽  
Gait Parameters ◽  
Support Phase

Gait pattern generation has an important influence on the walking quality of biped robots. In most gait pattern generation methods, it is usually assumed that the torso keeps vertical during walking. It is very intuitive and simple. However, it may not be the most efficient. In this paper, we propose a gait pattern with torso pitch motion (TPM) during walking. We also present a gait pattern with torso keeping vertical (TKV) to study the effects of TPM on energy efficiency of biped robots. We define the cyclic gait of a five-link biped robot with several gait parameters. The gait parameters are determined by optimization. The optimization criterion is chosen to minimize the energy consumption per unit distance of the biped robot. Under this criterion, the optimal gait performances of TPM and TKV are compared over different step lengths and different gait periods. It is observed that (1) TPM saves more than 12% energy on average compared with TKV, and the main factor of energy-saving in TPM is the reduction of energy consumption of the swing knee in the double support phase and (2) the overall trend of torso motion is leaning forward in double support phase and leaning backward in single support phase, and the amplitude of the torso pitch motion increases as gait period or step length increases.

Modeling of a Leg System to Illustrate the Feasibility of Energy Recovery in Walking Machines

1994 ◽  
Author(s):  
Sivakumar Dhandapani ◽  
Madara M. Ogot
Keyword(s):  
Energy Consumption ◽  
Energy Recovery ◽  
Stance Phase ◽  
Energy Storage Devices ◽  
Storage Devices ◽  
The Past ◽  
Walking Machines ◽  
Immediate Recovery ◽  
Practical Design ◽  
One Step

Abstract A key consideration in the design of walking machines is the minimization of energy consumption. Two main avenues of research have been pursued in the past (a) finding an optimal gait which reduces energy consumption or (b) the employment of energy storage devices to recover energy from one step to the next. This study follows the latter approach, which has hitherto concentrated on hopping machines. Several practical design considerations for energy recovery in multi-legged walking machines, where a stance phase prevents the immediate recovery of energy from one step to the next, are investigated. Two schemes, passive and active locking, are introduced. The simplified models presented serve to illustrate the feasibility of these schemes.

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