scholarly journals Optimal control for whole-body motion generation using center-of-mass dynamics for predefined multi-contact configurations

2015 ◽  
Author(s):  
M. Kudruss ◽  
M. Naveau ◽  
O. Stasse ◽  
N. Mansard ◽  
C. Kirches ◽  
...  
Keyword(s):  
Optimal Control ◽  
Center Of Mass ◽  
Body Motion ◽  
Whole Body ◽  
Motion Generation

scholarly journals Real-time whole-body motion generation using torso posture regression and center of mass

2018 ◽  
Vol 5 (1) ◽  
Author(s):  
Satoki Tsuichihara ◽  
Yuya Hakamata ◽  
Gustavo Alfonso Garcia Ricardez ◽  
Jun Takamatsu ◽  
Tsukasa Ogasawara
Keyword(s):  
Real Time ◽  
Center Of Mass ◽  
Body Motion ◽  
Whole Body ◽  
Motion Generation

scholarly journals Simulation of Disturbance Recovery Based on MPC and Whole-Body Dynamics Control of Biped Walking

Sensors ◽  
2020 ◽  
Vol 20 (10) ◽  
pp. 2971 ◽  
Author(s):  
Xuanyang Shi ◽  
Junyao Gao ◽  
Yizhou Lu ◽  
Dingkui Tian ◽  
Yi Liu
Keyword(s):  
Large Scale ◽  
Center Of Mass ◽  
Biped Robot ◽  
Optimization Method ◽  
Stability Control ◽  
Body Motion ◽  
Whole Body ◽  
Human Beings ◽  
Foot Placement ◽  
Body Dynamics

Biped robots are similar to human beings and have broad application prospects in the fields of family service, disaster rescue and military affairs. However, simplified models and fixed center of mass (COM) used in previous research ignore the large-scale stability control ability implied by whole-body motion. The present paper proposed a two-level controller based on a simplified model and whole-body dynamics. In high level, a model predictive control (MPC) controller is implemented to improve zero moment point (ZMP) control performance. In low level, a quadratic programming optimization method is adopted to realize trajectory tracking and stabilization with friction and joint constraints. The simulation shows that a 12-degree-of-freedom force-controlled biped robot model, adopting the method proposed in this paper, can recover from a 40 Nm disturbance when walking at 1.44 km/h without adjusting the foot placement, and can walk on an unknown 4 cm high stairs and a rotating slope with a maximum inclination of 10°. The method is also adopted to realize fast walking up to 6 km/h.

WHOLE-BODY COOPERATIVE BALANCED MOTION GENERATION FOR REACHING

2005 ◽  
Vol 02 (04) ◽  
pp. 437-457 ◽  
Author(s):  
KOICHI NISHIWAKI ◽  
MAMORU KUGA ◽  
SATOSHI KAGAMI ◽  
MASAYUKI INABA ◽  
HIROCHIKA INOUE
Keyword(s):  
Visual Information ◽  
Degrees Of Freedom ◽  
Dynamic Balance ◽  
Construction Method ◽  
Body Motion ◽  
Whole Body ◽  
Motion Generation ◽  
Final Goal ◽  
Posture Selection

This paper addresses a construction method of a system that realizes whole body reaching motion of humanoids. Humanoids have many redundant degrees of freedom for reaching, and even the base can be moved by making the robot step. Therefore, there are infinite final posture solutions for a final goal position of reaching, and there are also infinite solutions for reaching trajectories that realize a final reaching posture. It is, however, difficult to find an appropriate solution because of the constraint of dynamic balance, and relatively narrow movable range for each joint. We prepared basic postures heuristically, and a final reaching posture is generated by modifying one of them. Heuristics, such as the fact that kneeling down is suitable for reaching near the ground, can be implemented easily by using this method. Methods that compose the reaching system, that is, basic posture selection, modification of postures for generating final reaching postures, balance compensation, footstep planning to realize desired feet position, and generation and execution of whole body motion to final reaching postures are described. Reaching to manually set positions and picking up a bat at various postures using visual information are shown as experiments to show the performance of the system.

Efficient ZMP Formulation and Effective Whole-Body Motion Generation for a Human-Like Mechanism

2008 ◽  
Author(s):  
Joo H. Kim ◽  
Yujiang Xiang ◽  
Rajankumar Bhatt ◽  
Jingzhou Yang ◽  
Hyun-Joon Chung ◽  
...  
Keyword(s):  
Dynamic Balance ◽  
Body Motion ◽  
Whole Body ◽  
Motion Generation ◽  
Standing Posture ◽  
Upright Standing ◽  
Task Requirements ◽  
Reaction Forces ◽  
Zero Moment ◽  
Physics Based Simulation

An approach of generating dynamic biped motions of a human-like mechanism is proposed. An alternative and efficient formulation of the Zero-Moment Point for dynamic balance and the approximated ground reaction forces/moments are derived from the resultant reaction loads, which includes the gravity, the externally applied loads, and the inertia. The optimization problem is formulated to address the redundancy of the human task, where the general biped and task-specific constraints are imposed depending on the task requirements. The proposed method is fully predictive and generates physically feasible human-like motions from scratch; it does not require any input reference from motion capture or animation. The resulting generated motions demonstrate how a human-like mechanism reacts effectively to different external load conditions in performing a given task by showing realistic features of cause and effect. In addition, the energy-optimality of the upright standing posture is numerically verified among infinite feasible static biped postures without self contact. The proposed formulation is beneficial to motion planning, control, and physics-based simulation of humanoids and human models.

scholarly journals Compliant Humanoids Moving Toward Rehabilitation Applications: Transparent Integration of Real-Time Control, Whole-Body Motion Generation, and Virtual Reality

2019 ◽  
Vol 26 (4) ◽  
pp. 83-93
Author(s):  
Pouya Mohammadi ◽  
Enrico Mingo Hoffman ◽  
Niels Dehio ◽  
Milad S. Malekzadeh ◽  
Martin Giese ◽  
...  
Keyword(s):  
Virtual Reality ◽  
Real Time ◽  
Body Motion ◽  
Whole Body ◽  
Motion Generation ◽  
Real Time Control ◽  
Time Control
Sign in / Sign up

Export Citation Format

Share Document