Motion Planning for a Humanoid Robot Based on a Biped Walking Pattern Generator

2010 ◽  
pp. 181-204 ◽  
Author(s):  
Kensuke Harada
Keyword(s):  
Motion Planning ◽  
Humanoid Robot ◽  
Pattern Generator ◽  
Biped Walking ◽  
Walking Pattern

DEVELOPMENT AND WALKING CONTROL OF EMOTIONAL HUMANOID ROBOT, KIBO

2013 ◽  
Vol 10 (04) ◽  
pp. 1350024 ◽  
Author(s):  
SANGYONG LEE ◽  
JUNG-YUP KIM ◽  
MUNSANG KIM
Keyword(s):  
Humanoid Robot ◽  
Mechanical Design ◽  
Inertial Sensor ◽  
Pattern Generator ◽  
Sensor Data ◽  
Dynamic Walking ◽  
Biped Walking ◽  
Control Approach ◽  
Walking Control ◽  
Walking Pattern

This paper deals with the mechanical design, system integration, and dynamic walking algorithm of KIBO, an emotional biped humanoid robot that has a facial expression mechanism and various human-interactive devices. To emphasize the aesthetic features and marketability of KIBO, the mechanical design was performed after the exterior design stage to conform to all requirements, particularly constraints imposed by the external appearance and human-like link dimensions. For flexible biped walking, a walking pattern generator with variable walking parameters was developed. The walking pattern generator generates both a walking pattern and a corresponding reference zero-moment point (ZMP) pattern simultaneously. For stable biped walking, a walking control strategy using the ZMP and inertial sensor data was developed. In the strategy, we newly proposed a dual ZMP control approach and a posture control approach using an equivalent body inclination, which is calculated from the ZMP and inertial sensor data for robust walking on non-level ground. Finally, the hardware, software architecture, and dynamic walking performance of KIBO were verified through several walking experiments.

scholarly journals 1P1-B02 Simple Virtual Biped Model Based Walking Pattern Generator for a Planar Humanoid Robot

2008 ◽  
Vol 2008 (0) ◽  
pp. _1P1-B02_1-_1P1-B02_4
Author(s):  
Yuzuru HARADA ◽  
Kentaro MIYAHARA ◽  
Yoshikazu KANAMIYA ◽  
Daisuke SATO
Keyword(s):  
Humanoid Robot ◽  
Pattern Generator ◽  
Model Based ◽  
Walking Pattern

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.

Biped Walking Pattern Generator allowing Auxiliary ZMP Control

2006 ◽  
Author(s):  
Shuuji Kajita ◽  
Mitsuharu Morisawa ◽  
Kensuke Harada ◽  
Kenji Kaneko ◽  
Fumio Kanehiro ◽  
...  
Keyword(s):  
Pattern Generator ◽  
Biped Walking ◽  
Walking Pattern

Motion Planning for Humanoid Robots in Complex Environments Based on Stance Sequence and ZMP Reference

2012 ◽  
Vol 197 ◽  
pp. 415-422 ◽  
Author(s):  
Hong Liu ◽  
Qing Sun
Keyword(s):  
Humanoid Robot ◽  
Inverted Pendulum ◽  
Humanoid Robots ◽  
Pattern Generator ◽  
Complex Environments ◽  
Inverted Pendulum Model ◽  
Walking Pattern ◽  
Pendulum Model ◽  
Novel Method ◽  
Zero Moment

It is a great challenge to plan motion for humanoid robots in complex environments especially when the terrain is cluttered and discrete. To address this problem, a novel method is proposed in this paper by planning the gait according to the stance sequence and ZMP (Zero Moment Point) reference. It consists of two components: an adaptive footstep planner and a walking pattern generator. The adaptive footstep planner can generate the stance path according to the walking rules and adjust the orientation of body relevantly. As the footstep locations are determined, Linear Inverted Pendulum Model (LIPM) is used to generate the walking pattern with a moving ZMP reference. As demonstrated in experiments on the humanoid robot HOAP-2, our method can successfully plan footstep trajectories as well as generate the stable and natural-looking gait in typical cluttered and discrete environments.

Heel-Contact Toe-Off Walking Pattern Generator Based on the Linear Inverted Pendulum

2016 ◽  
Vol 13 (01) ◽  
pp. 1650002 ◽  
Author(s):  
Yukitoshi Minami Shiguematsu ◽  
Przemyslaw Kryczka ◽  
Kenji Hashimoto ◽  
Hun-Ok Lim ◽  
Atsuo Takanishi
Keyword(s):  
Simple Model ◽  
Humanoid Robot ◽  
Inverted Pendulum ◽  
Center Of Mass ◽  
Pattern Generator ◽  
Walking Pattern ◽  
Heel Contact ◽  
Zero Moment ◽  
Two Stages ◽  
Multibody Dynamics Model

We propose a novel heel-contact toe-off walking pattern generator for a biped humanoid robot. It is divided in two stages: a simple model stage where a Linear Inverted Pendulum (LIP) based heel-contact toe-off walking model based on the so-called functional rockers of the foot (heel, ankle and forefoot rockers) is used to calculate step positions and timings, and the Center of Mass (CoM) trajectory taking step lengths as inputs, and a multibody dynamics model stage, where the final pattern to implement on the humanoid robot is obtained from the output of the first simple model stage. The final pattern comprises the Zero Moment Point (ZMP) reference, the joint angle references and the end effector references. The generated patterns were implemented on our robotic platform, WABIAN-2R to evaluate the generated walking patterns.

AN EVOLUTIONARY OPTIMIZED FOOTSTEP PLANNER FOR THE NAVIGATION OF HUMANOID ROBOTS

2012 ◽  
Vol 09 (01) ◽  
pp. 1250005 ◽  
Author(s):  
YOUNG-DAE HONG ◽  
JONG-HWAN KIM
Keyword(s):  
Humanoid Robot ◽  
Humanoid Robots ◽  
Step Length ◽  
Pattern Generator ◽  
Elapsed Time ◽  
Mechanical Constraints ◽  
Walking Pattern ◽  
Simulation And Experiment ◽  
The Given ◽  
Navigation Method

In this paper, an evolutionary optimized footstep planner for the navigation of humanoid robots is proposed. A footstep planner based on a univector field navigation method is proposed to generate a command state (CS) as an input to a modifiable walking pattern generator (MWPG) at each footstep. The MWPG generates associated trajectories of every leg joint to follow the given CS. In order to satisfy various objectives in the navigation, the univector fields are optimized by evolutionary programming. The three objectives, shortest elapsed time to get to a destination, safety without obstacle collision, and less energy consumption, are considered with mechanical constraints of a real humanoid robot, that is, the maximum step length and allowable yawing range of the feet. The effectiveness of the proposed algorithm is demonstrated through both computer simulation and experiment for a small-sized humanoid robot, HanSaRam-IX.

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