Controlled Gait Planning of Humanoid Robot NAO Based on 3D-LIPM Model

2020 ◽  
Author(s):  
Abhishek Kumar Kashyap ◽  
Anish Pandey ◽  
Animesh Chhotray ◽  
Dayal R. Parhi
Keyword(s):  
Humanoid Robot ◽  
Gait Planning

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.

Gait Planning of Humanoid Robot Based on ZMP and Cubic Spline Interpolation

2013 ◽  
Vol 427-429 ◽  
pp. 1394-1397 ◽  
Author(s):  
Xian Lun Wang ◽  
Ping Li ◽  
Fei Qi Yang
Keyword(s):  
Humanoid Robot ◽  
Interpolation Method ◽  
Spline Interpolation ◽  
Cubic Spline ◽  
Smooth Transition ◽  
Cubic Spline Interpolation ◽  
Gait Planning ◽  
Inverted Pendulum Model ◽  
Point Equation ◽  
The Impact

Teaching programming and manual programming are usually used to realize gait planning of humanoid robot. Many methods are lack of the adjustment of center of gravity and lead to the robot walking instability. The gait planning of humanoid robot is solved based on the Linear Inverted Pendulum Model and Zero Moment Point equation in this paper. Two feet trajectories are also planned to realize the smooth transition and overcome the impact during walking with the cubic spline interpolation method. The validation and feasibility of the method proposed in the paper are proved by the results of simulation and experiments.

Gait planning and control method for humanoid robot using improved target positioning

2020 ◽  
Vol 63 (7) ◽  
Author(s):  
Lei Zhang ◽  
Huayan Zhang ◽  
Ning Xiao ◽  
Tianwei Zhang ◽  
Gui-Bin Bian
Keyword(s):  
Humanoid Robot ◽  
Control Method ◽  
Gait Planning ◽  
Planning And Control ◽  
And Control

Kinodynamic Planning for Humanoid Robots Walking on Uneven Terrain

2009 ◽  
Vol 21 (3) ◽  
pp. 311-316 ◽  
Author(s):  
Kensuke Harada ◽  
◽  
Mitsuharu Morisawa ◽  
Shin-ichiro Nakaoka ◽  
Kenji Kaneko ◽  
...  
Keyword(s):  
Humanoid Robot ◽  
Humanoid Robots ◽  
Pattern Generator ◽  
Body Motion ◽  
Whole Body ◽  
Gait Planning ◽  
Uneven Terrain ◽  
Walking Pattern ◽  
Dynamic Constraint ◽  
Dynamical Balance

For the purpose of realizing the humanoid robot walking on uneven terrain, this paper proposes the kinodynamic gait planning method where both kinematics and dynamics of the system are considered. We can simultaneously plan both the foot-place and the whole-body motion taking the dynamical balance of the robot into consideration. As a dynamic constraint, we consider the differential equation of the robot's CoG. To solve this constraint, we use a walking pattern generator. We randomly sample the configuration space to search for the path connecting the start and the goal configurations. To show the effectiveness of the proposed methods, we show simulation and experimental results where the humanoid robot HRP-2 walks on rocky cliff with hands contacting the environment.

Optimal energy gait planning for humanoid robot using geodesics

2010 ◽  
Author(s):  
Liandong Zhang ◽  
Changjiu Zhou ◽  
Peijie Zhang ◽  
Zhiwei Song ◽  
Yue Pik Kong ◽  
...  
Keyword(s):  
Humanoid Robot ◽  
Gait Planning ◽  
Optimal Energy
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