scholarly journals Biped Robot Gait Planning Based on 3D Linear Inverted Pendulum Model

2018 ◽  
Vol 301 ◽  
pp. 012098 ◽  
Author(s):  
Guochen Yu ◽  
Jiapeng Zhang ◽  
Wu Bo
Keyword(s):  
Inverted Pendulum ◽  
Biped Robot ◽  
Gait Planning ◽  
Inverted Pendulum Model ◽  
Pendulum Model

Parameterized gait pattern generator based on linear inverted pendulum model with natural ZMP references

2016 ◽  
Vol 32 ◽  
Author(s):  
Ya-Fang Ho ◽  
Tzuu-Hseng S. Li ◽  
Ping-Huan Kuo ◽  
Yan-Ting Ye
Keyword(s):  
Inverted Pendulum ◽  
Center Of Mass ◽  
Gait Pattern ◽  
Gait Patterns ◽  
Gait Planning ◽  
Inverted Pendulum Model ◽  
Pendulum Model ◽  
Lateral Plane ◽  
Planning Algorithm ◽  
Zero Moment

AbstractThis paper presents a parameterized gait generator based on linear inverted pendulum model (LIPM) theory, which allows users to generate a natural gait pattern with desired step sizes. Five types of zero moment point (ZMP) components are proposed for formulating a natural ZMP reference, where ZMP moves continuously during single support phases instead of staying at a fixed point in the sagittal and lateral plane. The corresponding center of mass (CoM) trajectories for these components are derived by LIPM theory. To generate a parameterized gait pattern with user-defined parameters, a gait planning algorithm is proposed, which determines related coefficients and boundary conditions of the CoM trajectory for each step. The proposed parameterized gait generator also provides a concept for users to generate gait patterns with self-defined ZMP references by using different components. Finally, the feasibility of the proposed method is validated by the experimental results with a teen-sized humanoid robot, David, which won first place in the sprint event at the 20th Federation of International Robot-soccer Association (FIRA) RoboWorld Cup.

scholarly journals Optimal three-dimensional biped walking pattern generation based on geodesics

2017 ◽  
Vol 14 (2) ◽  
pp. 172988141769623 ◽  
Author(s):  
Liandong Zhang ◽  
Changjiu Zhou
Keyword(s):  
Kinetic Energy ◽  
Inverted Pendulum ◽  
Three Dimensional ◽  
Riemannian Metric ◽  
Pattern Generation ◽  
Planning Method ◽  
Riemannian Surface ◽  
Gait Planning ◽  
Inverted Pendulum Model ◽  
Pendulum Model

The innovative three-dimensional humanoid biped gait planning method using geodesics is introduced in this article. In order to control three-dimensional walking, the three-dimensional linear inverted pendulum model is studied in our energy-optimal gait planning based on geodesics. The kinetic energy of the three-dimensional linear inverted pendulum model is calculated at first. Based on this kinetic energy model, the Riemannian metric is defined and the Riemannian surface is further determined by this Riemannian metric. The geodesic is the shortest line between two points on the Riemannian surface. This geodesic is the optimal kinetic energy gait for the center of gravity because the kinetic energy along the geodesic is invariant according to the geometric property of geodesics and the walking is energy-saving. Finally, a simulation experiment using a 12-degree-of-freedom biped robot model is implemented. The gait sequences of the simulated RoboErectus humanoid robot are obtained in the ROS (Robot Operating System) Gazebo environment. The proposed geodesics approach is compared with the traditional sinusoidal interpolation method by analyzing the torque feedback of each joint of both legs, and our geodesics optimization gait planning method for three-dimensional linear inverted pendulum model walking control is verified by the assessment results.

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