scholarly journals Smooth and Energy Saving Gait Planning for Humanoid Robot Using Geodesics

2012 ◽  
Vol 9 (4) ◽  
pp. 457-467 ◽  
Author(s):  
Liandong Zhang ◽  
Changjiu Zhou
Keyword(s):  
Kinetic Energy ◽  
Energy Saving ◽  
Humanoid Robot ◽  
Inverted Pendulum ◽  
Planning Method ◽  
Riemannian Surface ◽  
Gait Planning ◽  
Optimal Gait ◽  
Single Support Phase ◽  
Support Phase

A novel gait planning method using geodesics for humanoid robot is given in this paper. Both the linear inverted pendulum model and the exact Single Support Phase (SSP) are studied in our energy optimal gait planning based on geodesics. The kinetic energy of a 2-dimension linear inverted pendulum is obtained at first. We regard the kinetic energy as the Riemannian metric and the geodesic on this metric is studied and this is the shortest line between two points on the Riemannian surface. This geodesic is the optimal kinetic energy gait for the COG because the kinetic energy along geodesic is invariant according to the geometric property of geodesics and the walking is smooth and energy saving. Then the walking in Single Support Phase is studied and the energy optimal gait for the swing leg is obtained using our geodesics method. Finally, experiments using state-of-the-art method and using our geodesics optimization method are carried out respectively and the corresponding currents of the joint motors are recorded. With the currents comparing results, the feasibility of this new gait planning method is verified.

scholarly journals Optimal three-dimensional biped walking pattern generation based on geodesics

2017 ◽  
Vol 14 (2) ◽  
pp. 172988141769623 ◽  
Author(s):  
Liandong Zhang ◽  
Changjiu Zhou
Keyword(s):  
Kinetic Energy ◽  
Inverted Pendulum ◽  
Three Dimensional ◽  
Riemannian Metric ◽  
Pattern Generation ◽  
Planning Method ◽  
Riemannian Surface ◽  
Gait Planning ◽  
Inverted Pendulum Model ◽  
Pendulum Model

The innovative three-dimensional humanoid biped gait planning method using geodesics is introduced in this article. In order to control three-dimensional walking, the three-dimensional linear inverted pendulum model is studied in our energy-optimal gait planning based on geodesics. The kinetic energy of the three-dimensional linear inverted pendulum model is calculated at first. Based on this kinetic energy model, the Riemannian metric is defined and the Riemannian surface is further determined by this Riemannian metric. The geodesic is the shortest line between two points on the Riemannian surface. This geodesic is the optimal kinetic energy gait for the center of gravity because the kinetic energy along the geodesic is invariant according to the geometric property of geodesics and the walking is energy-saving. Finally, a simulation experiment using a 12-degree-of-freedom biped robot model is implemented. The gait sequences of the simulated RoboErectus humanoid robot are obtained in the ROS (Robot Operating System) Gazebo environment. The proposed geodesics approach is compared with the traditional sinusoidal interpolation method by analyzing the torque feedback of each joint of both legs, and our geodesics optimization gait planning method for three-dimensional linear inverted pendulum model walking control is verified by the assessment results.

scholarly journals Spring-loaded inverted pendulum goes through two contraction-extension cycles during the single-support phase of walking

Biology Open ◽  
2019 ◽  
Vol 8 (6) ◽  
pp. bio043695 ◽  
Author(s):  
Gabriel Antoniak ◽  
Tirthabir Biswas ◽  
Nelson Cortes ◽  
Siddhartha Sikdar ◽  
Chanwoo Chun ◽  
...  
Keyword(s):  
Inverted Pendulum ◽  
Spring Loaded Inverted Pendulum ◽  
Single Support Phase ◽  
Support Phase

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.

scholarly journals Implementation and Integration of Fuzzy Algorithms for Descending Stair of KMEI Humanoid Robot

2020 ◽  
pp. 372-388
Author(s):  
Wulandari Puspita Sari ◽  
R. Sanggar Dewanto ◽  
Dadet Pramadihanto
Keyword(s):  
Humanoid Robot ◽  
Fuzzy Logic Controller ◽  
Integrated Control ◽  
Step Length ◽  
Smooth Transition ◽  
Double Support ◽  
Walking Gait ◽  
Single Support Phase ◽  
Support Phase ◽  
Double Support Phase

Locomotion of humanoid robot depends on the mechanical characteristic of the robot. Walking on descending stairs with integrated control systems for the humanoid robot is proposed. The analysis of trajectory for descending stairs is calculated by the constrains of step length stair using fuzzy algorithm. The established humanoid robot on dynamically balance on this matter of zero moment point has been pretended to be consisting of single support phase and double support phase. Walking transition from single support phase to double support phase is needed for a smooth transition cycle. To accomplish the problem, integrated motion and controller are divided into two conditions: motion working on offline planning and controller working online walking gait generation. To solve the defect during locomotion of the humanoid robot, it is directly controlled by the fuzzy logic controller. This paper verified the simulation and the experiment for descending stair of KMEI humanoid robot. 

Realization of foot rotation by breaking the kinematic contact constraint

Robotica ◽  
2014 ◽  
Vol 34 (5) ◽  
pp. 1059-1070
Author(s):  
Xuechao Chen ◽  
Qiang Huang ◽  
Zhangguo Yu ◽  
Jing Li ◽  
Gan Ma ◽  
...  
Keyword(s):  
Inverted Pendulum ◽  
Walking Speed ◽  
Inverse Dynamics ◽  
Inverted Pendulum Model ◽  
Contact Constraint ◽  
Pendulum Model ◽  
Single Support Phase ◽  
Support Phase

SUMMARYPrevious research has revealed that foot rotation of the supporting foot in a single support phase could increase walking speed. This paper presents a method for force-controlled bipeds to realize foot rotation by breaking the kinematic contact constraint between the supporting foot and the ground. An inverse dynamics controller is proposed to make the biped model controllable even when the constraint is broken. In addition, a linear inverted pendulum model is extended to make its ZMP adjustable so that the ZMP can be predefined as required. When the planned ZMP is in the toe, the kinematic contact constraint will be broken and foot rotation can be achieved. A walking simulation demonstrates the effectiveness of the proposed method.

Tracking a joint path for the walk of an underactuated biped

Robotica ◽  
2004 ◽  
Vol 22 (1) ◽  
pp. 15-28 ◽  
Author(s):  
Christine Chevallereau ◽  
Alexander Formal'sky ◽  
Dalila Djoudi
Keyword(s):  
Inverted Pendulum ◽  
Temporal Evolution ◽  
Biped Robot ◽  
Degree Of Freedom ◽  
Control Law ◽  
Reference Trajectory ◽  
Geometric Evolution ◽  
Cyclic Motion ◽  
Single Support Phase ◽  
Support Phase

This paper presents a control law for the tracking of a cyclic reference path by an under-actuated biped robot. The robot studied is a five-link planar biped. The degree of under-actuation is one during the single support phase. The control law is defined in such a way that only the geometric evolution of the biped configuration is controlled, but not the temporal evolution. To achieve this objective, we consider a parametrized control. When a joint path is given, a five degree of freedom biped in single support becomes similar to a one degree of freedom inverted pendulum. The temporal evolution during the geometric tracking is completely defined and can be analyzed through the study of a model with one degree of freedom. Simple analytical conditions, which guarantee the existence of a cyclic motion and the convergence towards this motion, are deduced. These conditions are defined on the reference trajectory path. The analytical considerations are illustrated with some simulation results.

scholarly journals Rolling Optimization Method for Humanoid Robots

2015 ◽  
Vol 20 (2) ◽  
pp. 78
Author(s):  
Riadh Zaier
Keyword(s):  
Humanoid Robot ◽  
Humanoid Robots ◽  
Optimization Method ◽  
Initial Value ◽  
Walking Motion ◽  
Zero Moment ◽  
Rolling Optimization ◽  
Single Support Phase ◽  
Locomotion Controller ◽  
Support Phase

In this paper, a method of optimizing the rolling amplitude needed for a stable and smooth walking movement of a humanoid robot is considered. The optimization algorithm was based on minimizing a cost function defined by the rolling overshoot. The amplitude of the rolling during locomotion was calculated using the lateral zero moment point (ZMP) position. The initial value of the rolling was the static rolling that corresponds to the position of the ZMP at the center of the support polygon. The algorithm consisted of performing a ZMP calculation at two points that correspond to single support phases. Simplifying the robot as an inverted pendulum, the gyro feedback controller parameters were tuned to have a passive-like walking motion and a faster response of the robot state to the equilibrium point at single support phase. Experimental results, using HOAP-3 of Fujitsu, showed that the algorithm was successfully implemented along with the locomotion controller. With the optimal rolling technique, the humanoid robot could exhibit a stable and smooth walking movement.  

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