scholarly journals Optimal Gait Generation in Biped Locomotion of Humanoid Robot to Improve Walking Speed

Biped Robots ◽  
10.5772/13871 ◽  
2011 ◽  
Author(s):  
Hanafiah Yussof ◽  
Mitsuhiro Yamano ◽  
Yasuo Nasu ◽  
Masahiro Ohk
Keyword(s):  
Humanoid Robot ◽  
Walking Speed ◽  
Biped Locomotion ◽  
Gait Generation ◽  
Optimal Gait

scholarly journals Knee-stretched walking with toe-off and heel-strike for a position-controlled humanoid robot based on model predictive control

2021 ◽  
Vol 18 (4) ◽  
pp. 172988142110362
Author(s):  
Zelin Huang ◽  
Zhangguo Yu ◽  
Xuechao Chen ◽  
Qingqing Li ◽  
Libo Meng ◽  
...  
Keyword(s):  
Model Predictive Control ◽  
Predictive Control ◽  
Energy Efficient ◽  
Humanoid Robot ◽  
Center Of Mass ◽  
Heel Strike ◽  
Gait Generation ◽  
Double Support ◽  
Transition Moments ◽  
Efficient Gait

Knee-stretched walking is considered to be a human-like and energy-efficient gait. The strategy of extending legs to obtain vertical center of mass trajectory is commonly used to avoid the problem of singularities in knee-stretched gait generation. However, knee-stretched gait generation utilizing this strategy with toe-off and heel-strike has kinematics conflicts at transition moments between single support and double support phases. In this article, a knee-stretched walking generation with toe-off and heel-strike for the position-controlled humanoid robot has been proposed. The position constraints of center of mass have been considered in the gait generation to avoid the kinematics conflicts based on model predictive control. The method has been verified in simulation and validated in experiment.

Optimal Gait Design for Systems With Drift on SO(3)

2013 ◽  
Author(s):  
Matthew Travers ◽  
Howie Choset
Keyword(s):  
Angular Momentum ◽  
Control Method ◽  
Three Dimensional ◽  
Free Flight ◽  
Gait Generation ◽  
Geometric Methods ◽  
Wide Range ◽  
Optimal Gait ◽  
Computational Reduction ◽  
Inertial Systems

Geckos that jump, cats that fall, and satellites that are inertially controlled fundamentally locomote in the same way. These systems are bodies in free flight that actively reorientate under the influence of conservation of angular momentum. We refer to such bodies as inertial systems. This work presents a novel control method for inertial systems with drift that combines geometric methods and computational control. In previous work, which focused on inertial systems starting from rest, a set of visual tools was developed that readily allowed on to design gaits. A key insight of this work was deriving coordinates, called minimum perturbation coordinates, which allowed the visual tools to be applied to the design of a wide range of motions. This paper draws upon the same insight to show that it is possible to approximately analyze the kinematic and dynamic contributions to net motion independently. This approach is novel because it uses geometric tools to support computational reduction in automatic gait generation on three-dimensional spaces.

Dynamical Model of Walking Transition Considering Nonlinear Friction with Floor

2016 ◽  
Vol 20 (6) ◽  
pp. 974-982 ◽  
Author(s):  
Xiang Li ◽  
◽  
Hiroki Imanishi ◽  
Mamoru Minami ◽  
Takayuki Matsuno ◽  
...  
Keyword(s):  
Humanoid Robot ◽  
Dynamical Equation ◽  
Control Method ◽  
Dynamical Model ◽  
Reliable Control ◽  
Biped Locomotion ◽  
Nonlinear Friction ◽  
View Point ◽  
Zero Moment Point ◽  
Zero Moment

Biped locomotion created by a controller based on Zero-Moment Point (ZMP) known as reliable control method looks different from human’s walking on the view point that ZMP-based walking does not include falling state, and it’s like monkey walking because of knee-bended walking profiles. However, the walking control that does not depend on ZMP is vulnerable to turnover. Therefore, keeping the event-driven walking of dynamical motion stable is important issue for realization of human-like natural walking. In this research, a walking model of humanoid robot including slipping, bumping, surface-contacting and line-contacting of foot is discussed, and its dynamical equation is derived by the Extended NE method. In this paper we introduce the humanoid model which including the slipping foot and verify the model.

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 Synthesis of adaptive impedance control for bipedal robot mechanisms

2008 ◽  
Vol 18 (1) ◽  
pp. 15-18 ◽  
Author(s):  
Milena Petrovic ◽  
Aleksandar Rodic
Keyword(s):  
Humanoid Robot ◽  
Walking Speed ◽  
Impedance Control ◽  
Bipedal Robot ◽  
Parameter Modulation ◽  
Adaptive Impedance Control

The paper describes the impedance algorithm in locomotion of humanoid robot with proposed parameter modulation depending on the gate phase. The analysis shows influence of walking speed and foot elevation on regulator's parameters. Chosen criterion cares for footpath tracking and needed energy for that way of walking. The experiments give recommendation for impedance regulator tuning.

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