Inverted pendulum-like walking pattern of a 5-link biped robot

SUMMARYThis paper analyzes the stabilization problem from the energy point of view. Perturbations are detected by the gyros and categorized according to the constraints on the zero-moment point, energy, and walking pattern. Ankle torque is exerted to extend the linear inverted pendulum mode (LIPM). Compensation movement is computed according to the analysis on the energy of LIPM and the influence of disturbance to the energy. The experimental results from both the simulation and the physical robot not only proved effective but also explain various human reactions to disturbance in locomotion.

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Online Biped Walking Pattern Generation with Contact Consistency

IAES International Journal of Robotics and Automation (IJRA) ◽

10.11591/ijra.v4i1.pp19-30 ◽

2015 ◽

Vol 4 (1) ◽

pp. 19

Author(s):

Wenqi Hou ◽

Jian Wang ◽

Jianwen Wang ◽

Hongxu Ma

Keyword(s):

Biped Robot ◽

Gait Pattern ◽

Pattern Generation ◽

Task Space ◽

Biped Walking ◽

Foot Placement ◽

Walking Gait ◽

Walking Pattern ◽

Generating Method ◽

Stable Periodic

In this paper, a novel online biped walking gait pattern generating method with contact consistency is proposed. Generally, it’s desirable that there is no foot-ground slipping during biped walking. By treating the hip of the biped robot as a linear inverted pendulum (LIP), a foot placement controller that takes the contact consistency into account is proposed to tracking the desired orbit energy. By selecting the hip’s horizontal locomotion as the parameter, the trajectories in task space for walking are planned. A task space controller without calculating the inversion of inertial matrix is presented. Simulation experiments are implemented on a virtual 5-link point foot biped robot. The results show the effectiveness of the walking pattern generating method which can realize a stable periodic gait cycle without slipping and falling even suffering a sudden disturbance.

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The 3D linear inverted pendulum mode: a simple modeling for a biped walking pattern generation

Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180) ◽

10.1109/iros.2001.973365 ◽

2002 ◽

Cited By ~ 377

Author(s):

S. Kajita ◽

F. Kanehiro ◽

K. Kaneko ◽

K. Yokoi ◽

H. Hirukawa

Keyword(s):

Inverted Pendulum ◽

Pattern Generation ◽

Biped Walking ◽

Walking Pattern ◽

Walking Pattern Generation ◽

Mode A ◽

Simple Modeling

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A new virtual-real gravity compensated inverted pendulum model and ADAMS simulation for biped robot with heterogeneous legs

Journal of Mechanical Science and Technology ◽

10.1007/s12206-019-1239-4 ◽

2020 ◽

Vol 34 (1) ◽

pp. 401-412 ◽

Cited By ~ 2

Author(s):

Hualong Xie ◽

Xiaofei Zhao ◽

Qiancheng Sun ◽

Kun Yang ◽

Fei Li

Keyword(s):

Inverted Pendulum ◽

Biped Robot ◽

Inverted Pendulum Model ◽

Pendulum Model ◽

Adams Simulation

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Characteristics of Real-Time Imitation Control for Biped Robot: Falling Time Analysis

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.427-429.983 ◽

2013 ◽

Vol 427-429 ◽

pp. 983-986

Author(s):

Yi Feng Cui ◽

Su Goog Shon ◽

Hee Jung Byun

Keyword(s):

Real Time ◽

Inverted Pendulum ◽

Angular Position ◽

Biped Robot ◽

Trajectory Data ◽

Time Analysis ◽

The Real ◽

Real Robot

The purpose of this paper is to show that a biped robot can walk by an imitation control. It proposes architecture and system for real-time imitation control of a biped robot. Using this method, the operator can interact with the robot to walk. The operator produces trajectory data necessary to start, stop, walk and redirect the robot. We have to send control commands or new angular position values for to the robot as fast as possible. To get intuition how fast the robot should be controlled, its falling time which as the primary time question is discussed. An inverted pendulum calculation example and the real robot fall down experiment were compared in this paper.

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Biped Landing Pattern Modification Method and Walking Experiments in Outdoor Environment

Journal of Robotics and Mechatronics ◽

10.20965/jrm.2008.p0775 ◽

2008 ◽

Vol 20 (5) ◽

pp. 775-784 ◽

Cited By ~ 18

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.

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