Modeling, stability and walking pattern generators of biped robots: a review

Robotica ◽  
2013 ◽  
Vol 32 (6) ◽  
pp. 907-934 ◽  
Author(s):  
Hayder F. N. Al-Shuka ◽  
F. Allmendinger ◽  
B. Corves ◽  
Wen-Hong Zhu
Keyword(s):  
Artificial Intelligence ◽  
Control Strategies ◽  
Biped Robot ◽  
Human Locomotion ◽  
Biped Robots ◽  
Walking Pattern ◽  
Control Electronics ◽  
The Subject ◽  
Pattern Generators

SUMMARYBiped robots have gained much attention for decades. A variety of researches have been conducted to make them able to assist or even substitute for humans in performing special tasks. In addition, studying biped robots is important in order to understand human locomotion and to develop and improve control strategies for prosthetic and orthotic limbs. This paper discusses the main challenges encountered in the design of biped robots, such as modeling, stability and their walking patterns. The subject is difficult to deal with because the biped mechanism intervenes with mechanics, control, electronics and artificial intelligence. In this paper, we collect and introduce a systematic discussion of modeling, walking pattern generators and stability for a biped robot.

Biped Landing Pattern Modification Method and Walking Experiments in Outdoor Environment

2008 ◽  
Vol 20 (5) ◽  
pp. 775-784 ◽  
Author(s):  
Kenji Hashimoto ◽  
◽  
Yusuke Sugahara ◽  
Hun-Ok Lim ◽  
Atsuo Takanishi ◽  
...  
Keyword(s):  
Biped Robot ◽  
Stability Control ◽  
Outdoor Environment ◽  
Walking Robots ◽  
Control Algorithms ◽  
Biped Robots ◽  
Uneven Terrain ◽  
Walking Pattern ◽  
Actual Compliance ◽  
Modification Method

Many researchers have studied walking stability control for biped robots, most of which involve highly precise acceleration controls based on robot model mechanics. Modeling error, however, makes the control algorithms used difficult to apply to biped walking robots intended to transport human users. The “landing pattern modification method” we propose is based on nonlinear admittance control. Theoretical compliance displacement calculated from walking patterns is compared to actual compliance displacement, when a robot's foot contacts slightly uneven terrain. Terrain height is detected and the preset walking pattern is modified accordingly. The new biped foot we also propose forms larger support polygons on uneven terrain than conventional biped foot systems do. Combining our new modification method and foot, a human-carrying biped robot can traverse uneven terrain, as confirmed in walking experiments.

On the Walking Pattern Generators of Biped Robot

2013 ◽  
Vol 1 (2) ◽  
pp. 149-155 ◽  
Author(s):  
Hayder F.N. Al-Shuka ◽  
Burkhard J. Corves
Keyword(s):  
Biped Robot ◽  
Walking Pattern ◽  
Pattern Generators

PLANNING OF SAGITTAL GAIT OF BIPED ROBOTS BASED ON MINIMUM MOTION ENERGY

2010 ◽  
Vol 07 (04) ◽  
pp. 635-667 ◽  
Author(s):  
KUO-YANG TU ◽  
MI-SHIN LIU
Keyword(s):  
Lower Limb ◽  
Optimal Trajectory ◽  
Biped Robot ◽  
Inverse Kinematic ◽  
Biped Robots ◽  
Motion Energy ◽  
Walking Pattern ◽  
Acceleration And Deceleration ◽  
Zero Moment ◽  
Kinetic And Potential Energies

Traditional planning of biped robot walking patterns solves optimal trajectory for minimizing energy consumption. However, a diversity of biped robot walking functions lead to a variety of walking types. The walking patterns to implement a variety of biped robot objectives should have enough parameters to cope with their functions. In this article, walking patterns based on two 4-3-4 polynomials for the trajectories of biped robot waist and lower limb are proposed. The main advantage of the walking pattern is that 4-3-4 polynomials containing the parameters of acceleration and deceleration for biped walking make the implementation of a variety of walking types possible. In the study, the prototype mechanism of a biped robot is designed. After that, the direct and inverse kinematic equations of the biped robot are derived. For studying motion energy of biped robots, kinetic and potential energies are also defined. Based on these definitions, the parameters of the biped robot trajectories for minimum motion energy are solved. The solution is summarized by a development procedure. In addition, the study of zero moment point (ZMP) during the biped robot in walking is included.

WALKING PATTERN MAPPING FROM IMPERFECT MOTION CAPTURE DATA ONTO BIPED HUMANOID ROBOTS

2010 ◽  
Vol 07 (01) ◽  
pp. 127-156 ◽  
Author(s):  
JUNG-YUP KIM ◽  
YOUNG-SEOG KIM
Keyword(s):  
Motion Capture ◽  
Measurement Errors ◽  
Biped Robot ◽  
Humanoid Robots ◽  
Mapping Method ◽  
Human Motion ◽  
Motion Capture Data ◽  
Biped Robots ◽  
Walking Pattern ◽  
Walking Motion

This paper proposes an efficient walking pattern mapping algorithm from motion capture data onto biped humanoid robots. Currently, the technology known as human motion capture is widely utilized to generate various humanlike motions in many applications, including robotics. An important thing is that several difficulties are associated with motion capture data. These include a data offset issue, noise, and drift problems due to measurement errors caused by imperfect camera calibration, and marker position. If a biped robot uses motion capture data without suitable post-processes, the walking motion of the robot will differ from an actual walking motion, and the Zero Moment Point (ZMP) will be asymmetrical and noisy, leading to unstable walking. A further difficulty exists in the walking pattern mapping process due to the different joint numbers, link sizes, and weights between a human and a robot. Although walking pattern mapping is suitable after addressing the above difficulties, a slip problem between the feet and the ground can continue to cause problems. To solve these difficulties efficiently, a Fourier fitting method is proposed in this research. Improvements of walking pattern and the ZMP trajectory are confirmed using the proposed method. Furthermore, a geometric mapping method is introduced to generate walking patterns for various biped robots while maintaining a degree of similarity to humans. By applying a no-slip constraint to the feet and modifying the joint angles through inverse kinematics, the slip problem is also solved. The effectiveness of the proposed algorithm is verified through computer simulations of two different biped robots that have different sizes, weights, walking cycles, and step lengths.

Multi-level control of zero-moment point-based humanoid biped robots: a review

Robotica ◽  
2015 ◽  
Vol 34 (11) ◽  
pp. 2440-2466 ◽  
Author(s):  
Hayder F. N. Al-Shuka ◽  
B. Corves ◽  
Wen-Hong Zhu ◽  
B. Vanderborght
Keyword(s):  
Control Strategies ◽  
Humanoid Robots ◽  
Human Locomotion ◽  
Level Control ◽  
Biped Robots ◽  
Zero Moment Point ◽  
Cluttered Environments ◽  
Multi Level ◽  
Zero Moment ◽  
Autonomous Humanoid

SUMMARYResearchers dream of developing autonomous humanoid robots which behave/walk like a human being. Biped robots, although complex, have the greatest potential for use in human-centred environments such as the home or office. Studying biped robots is also important for understanding human locomotion and improving control strategies for prosthetic and orthotic limbs. Control systems of humans walking in cluttered environments are complex, however, and may involve multiple local controllers and commands from the cerebellum. Although biped robots have been of interest over the last four decades, no unified stability/balance criterion adopted for stabilization of miscellaneous walking/running modes of biped robots has so far been available. The literature is scattered and it is difficult to construct a unified background for the balance strategies of biped motion. The zero-moment point (ZMP) criterion, however, is a conservative indicator of stabilized motion for a class of biped robots. Therefore, we offer a systematic presentation of multi-level balance controllers for stabilization and balance recovery of ZMP-based humanoid robots.

Walking Pattern Filter for Dynamic Biped Robot With SMA Actuators

Aerospace ◽  
2006 ◽  
Author(s):  
E. Tarkesh Esfahani ◽  
Mohammad Elahinia
Keyword(s):  
Biped Robot ◽  
Human Motion ◽  
Main Criterion ◽  
Biped Robots ◽  
Sma Actuators ◽  
Walking Pattern ◽  
Delay Times ◽  
Zero Moment ◽  
The Stability ◽  
The Given

In this paper we present a walking pattern filter for Shape Memory Alloy (SMA) actuated biped robots. SMAs are known for their slow response. The actuation speed limitation can potentially lead to stability problems for biped robots. This filter adapts the human motion for a SMA biped in order to have a stable walking pattern. The Zero Moment Point (ZMP) is used as a main criterion of the filter to guarantee the stability of the motion. The SMA actuators are designed based on the dynamic and kinematics data of the motion. The response time of each SMA actuator is modeled in order to estimate the behavior of the actuator in realizing the given trajectory. After applying the delay times to the motion new trajectories are generated and checked by the ZMP criterion. The output of the filter can generate smooth trajectories for the SMA biped robots. The filter furthermore guarantees the stability while mimicking the human motion. The filter provides a practical way to create stable walking patterns using SMA actuators.

The Design of Central Pattern Generators Based on the Matsuoka Oscillator to Generate Rhythmic Human-Like Movement for Biped Robots

2007 ◽  
Vol 11 (8) ◽  
pp. 946-955 ◽  
Author(s):  
Guang Lei Liu ◽  
◽  
Maki K. Habib ◽  
Keigo Watanabe ◽  
Kiyotaka Izumi
Keyword(s):  
Degrees Of Freedom ◽  
Central Pattern Generators ◽  
Biped Robot ◽  
Coupling Coefficients ◽  
Neuron Models ◽  
Bipedal Robots ◽  
Biped Robots ◽  
Coupling Dynamics ◽  
Pattern Generators ◽  
6 Degrees Of Freedom

We propose a controller based on a central pattern generator (CPG) network of mutually coupled Matsuoka nonlinear neural oscillators to generate rhythmic human-like movement for biped robots. The parameters of mutually inhibited and coupled Matsuoka oscillators and the necessary interconnection coupling coefficients within the CPG network directly influence the generation of the required rhythmic signals related to targeted motion. Our objective is to analyze the mutually coupled neuron models of Matsuoka oscillators to realize an efficient CPG design that leads to have dynamic, stable, sustained rhythmic movement with robust gaits for bipedal robots. We discuss the design of a CPG model with new interconnection coupling links and its inhibitation coefficients for a CPG-based controller. The new design was studied through interaction between simulated interconnection coupling dynamics with six links and a musculoskeletal model with the 6 degrees of freedom (DOFs) of a biped robot. We used the weighted outputs of mutually inhibited oscillators as torques to actuate joints. We verified the effectiveness of our proposal through simulation and compared the results to those of Taga’s CPG model, confirming better, more efficient generation of stable rhythmic walking at different speeds and robustness in response to disturbances.

scholarly journals Indirect Feedback Measurement of Flow in a Water Pumping Network Employing Artificial Intelligence

Sensors ◽  
2020 ◽  
Vol 21 (1) ◽  
pp. 75
Author(s):  
Thommas Kevin Sales Flores ◽  
Juan Moises Mauricio Villanueva ◽  
Heber P. Gomes ◽  
Sebastian Y. C. Catunda
Keyword(s):  
Artificial Intelligence ◽  
Nonlinear Models ◽  
Control Strategies ◽  
Experimental Tests ◽  
Feedback System ◽  
Indirect Measurement ◽  
High Price ◽  
Maximum Relative Error ◽  
Pumping System ◽  
Water Pumping

Indirect measurement can be used as an alternative to obtain a desired quantity, whose physical positioning or use of a direct sensor in the plant is expensive or not possible. This procedure can been improved by means of feedback control strategies of a secondary variable, which can be measured and controlled. Its main advantage is a new form of dynamic response, with improvements in the response time of the measurement of the quantity of interest. In water pumping networks, this methodology can be employed for measuring the flow indirectly, which can be advantageous due to the high price of flow sensors and the operational complexity to install them in pipelines. In this work, we present the use of artificial intelligence techniques in the implementation of the feedback system for indirect flow measurement. Among the contributions of this new technique is the design of the pressure controller using the Fuzzy logic theory, which rules out the need for knowing the plant model, as well as the use of an artificial neural network for the construction of nonlinear models with the purpose of indirectly estimating the flow. The validation of the proposed approach was carried out through experimental tests in a water pumping system, fully automated and installed at the Laboratory of Hydraulic and Energy Efficiency in Sanitation at the Federal University of Paraiba (LENHS/UFPB). The results were compared with an electromagnetic flow sensor present in the system, obtaining a maximum relative error of 10%.

scholarly journals Effects of Torso Pitch Motion on Energy Efficiency of Biped Robot Walking

2021 ◽  
Vol 11 (5) ◽  
pp. 2342
Author(s):  
Long Li ◽  
Zhongqu Xie ◽  
Xiang Luo ◽  
Juanjuan Li
Keyword(s):  
Energy Efficiency ◽  
Energy Consumption ◽  
Biped Robot ◽  
Gait Pattern ◽  
Pattern Generation ◽  
Biped Robots ◽  
Pitch Motion ◽  
Double Support ◽  
Gait Parameters ◽  
Support Phase

Gait pattern generation has an important influence on the walking quality of biped robots. In most gait pattern generation methods, it is usually assumed that the torso keeps vertical during walking. It is very intuitive and simple. However, it may not be the most efficient. In this paper, we propose a gait pattern with torso pitch motion (TPM) during walking. We also present a gait pattern with torso keeping vertical (TKV) to study the effects of TPM on energy efficiency of biped robots. We define the cyclic gait of a five-link biped robot with several gait parameters. The gait parameters are determined by optimization. The optimization criterion is chosen to minimize the energy consumption per unit distance of the biped robot. Under this criterion, the optimal gait performances of TPM and TKV are compared over different step lengths and different gait periods. It is observed that (1) TPM saves more than 12% energy on average compared with TKV, and the main factor of energy-saving in TPM is the reduction of energy consumption of the swing knee in the double support phase and (2) the overall trend of torso motion is leaning forward in double support phase and leaning backward in single support phase, and the amplitude of the torso pitch motion increases as gait period or step length increases.

Sign in / Sign up

Export Citation Format

Share Document