Walking Control Method of Humanoid Robot Based on FSR Sensors and Inverted Pendulum Model

2012 ◽  
pp. 402-413 ◽  
Author(s):  
Bi Sheng ◽  
Min Huaqing ◽  
Zhuang Zhongjie ◽  
Huang Quanyong ◽  
Mo Huaxi ◽  
...  
Keyword(s):  
Humanoid Robot ◽  
Inverted Pendulum ◽  
Control Method ◽  
Walking Control ◽  
Inverted Pendulum Model ◽  
Pendulum Model

Biped Walking Using Multiple-Link Virtual Inverted Pendulum Models

1999 ◽  
Vol 11 (4) ◽  
pp. 304-309 ◽  
Author(s):  
Takayuki Furuta ◽  
◽  
Hideaki Yamato ◽  
Ken Tomiyama
Keyword(s):  
Degrees Of Freedom ◽  
Humanoid Robot ◽  
Inverted Pendulum ◽  
Model Reference ◽  
Biped Walking ◽  
Experimental Platform ◽  
Walking Control ◽  
Inverted Pendulum Model ◽  
Pendulum Model

The purpose of this study is to realize 3D biped walking in a humanoid robot. A robot that has 12 degrees of freedom with 2 legs was designed and constructed as an experimental platform. Model reference walking control with a virtual inverted pendulum model is proposed, implemented on the robot to realize stable walking.

FEASIBILITY STUDY OF USING TELESCOPIC INVERTED PENDULUM MODEL TO REPRESENT A THREE LINK SYSTEM FOR SIT TO STAND MOTION

2015 ◽  
Vol 77 (20) ◽  
Author(s):  
Muhammad Fahmi Miskon ◽  
Mohd Zaki Ghazali ◽  
Mohd Bazli Bahar ◽  
Chew Xiao Lin ◽  
Fariz Ali
Keyword(s):  
Humanoid Robot ◽  
Inverted Pendulum ◽  
Sagittal Plane ◽  
Inverse Kinematic ◽  
Humanoid Robotics ◽  
Joint Torques ◽  
Inverted Pendulum Model ◽  
Sit To Stand ◽  
Pendulum Model ◽  
Link Model

Sit to stand (STS) is a very challenging motion for any humanoid robotic system. In humanoid robotics field, the STS motion on the sagittal plane can be predicted using three-link robot inverse kinematic and dynamic model. However, a three-link model is complicated and requires high computational resource to compute. Hence, in this paper a much simpler model namely telescopic inverted pendulum is proposed. The objective of this project is to model and validate sit to stand motion of humanoid robot using telescopic inverted pendulum model. In order to validate the model, simulated joint torques using both three-link and TIPS model are compared using MATLAB software. Result shows that there is a linear relationship between Telescopic Inverted Pendulum with the 3 Link model thus, it is feasible to use TIPS to represent STS motion of a three-link multi-segment robot.

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.

Walking Engine Using ZMP Criterion and Feedback Control for Child-Sized Humanoid Robot

2016 ◽  
Vol 13 (04) ◽  
pp. 1650021 ◽  
Author(s):  
Young-Jae Ryoo
Keyword(s):  
Feedback Control ◽  
Humanoid Robot ◽  
Inverted Pendulum ◽  
Three Dimensional ◽  
Development Cost ◽  
Evolutionary System ◽  
Inverted Pendulum Model ◽  
Gyro Sensor ◽  
Pendulum Model ◽  
Zero Moment

In this paper, a walking engine that achieves dynamic stable walking using zero moment point (ZMP) criterion and feedback control from a gyro sensor is proposed. The ZMP criterion is used for the dynamic walking, and the feedback control from a gyro sensor is adopted for stabilization. The proposed walking engine consists of ZMP controller and the gait generator. The three-dimensional linear inverted pendulum model (3D-LIPM) is adopted for a simplified model of the humanoid robot. The ZMP equations are derived based on the 3D-LIPM and are applied to the gait generator. The walking engine is tested on a child-sized, 21-degree-of-freedom (DOF) humanoid robot cognitive humanoid autonomous robot with learning and evolutionary system (CHARLES) which stands 110[Formula: see text]cm tall and weighs only 8[Formula: see text]kg. The design concept of CHARLES is low development cost, lightweight, and simple design, which all match well with the proposed walking engine. The results of the experiments present the efficacy of the proposed walking engine.

A Control Method of Four-Legged Robot Stable Walking with Diagonal Gait

2011 ◽  
Vol 148-149 ◽  
pp. 82-87
Author(s):  
Chang Hua Fan ◽  
Zhen Jiang ◽  
Bai Yu He
Keyword(s):  
Dynamic Equation ◽  
Stability Problem ◽  
Inverted Pendulum ◽  
Control Method ◽  
Flip Angle ◽  
Legged Robot ◽  
Motion Stability ◽  
Inverted Pendulum Model ◽  
Pendulum Model ◽  
The Stability

This paper proposes a kind of control method used to solve the stability problem of the trotted robot. Propose the concept of inside flip design four-footed robot and build a double inverted pendulum model. Establish dynamic equation to analyze the factors of affecting the motion stability. During walking, the center of gravity can maintain a proper vibration and have a maximum safety region of flip angle. Finally, use Adams to verify the control method.

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