Dynamic Stepping on Unknown Obstacles With Upper-Body Compliance and Angular Momentum Damping From the Reaction Null-Space

2019 ◽  
Author(s):  
Yuki Hidaka ◽  
Kajun Nishizawa ◽  
Dragomir N. Nenchev
Keyword(s):  
Angular Momentum ◽  
Null Space ◽  
Upper Body ◽  
Reaction Null Space

RUNNING PATTERN GENERATION OF HUMANOID BIPED WITH A FIXED POINT AND ITS REALIZATION

2009 ◽  
Vol 06 (04) ◽  
pp. 631-656 ◽  
Author(s):  
BAEK-KYU CHO ◽  
ILL-WOO PARK ◽  
JUN-HO OH
Keyword(s):  
Fixed Point ◽  
Angular Momentum ◽  
Sagittal Plane ◽  
Center Of Mass ◽  
Maximum Velocity ◽  
Frontal Plane ◽  
Numerical Approach ◽  
Pattern Generation ◽  
Upper Body ◽  
Running Pattern

This paper discusses the generation of a running pattern for a humanoid biped and verifies the validity of the proposed method of running pattern generation via experiments. Two running patterns are generated independently in the sagittal plane and in the frontal plane and the two patterns are then combined. When a running pattern is created with resolved momentum control in the sagittal plane, the angular momentum of the robot about the Center of Mass (COM) is set to zero, as the angular momentum causes the robot to rotate. However, this also induces unnatural motion of the upper body of the robot. To solve this problem, the biped was set as a virtual under-actuated robot with a free joint at its support ankle, and a fixed point for a virtual under-actuated system was determined. Following this, a periodic running pattern in the sagittal plane was formulated using the fixed point. The fixed point is easily determined in a numerical approach. In this way, a running pattern in the frontal plane was also generated. In an experiment, a humanoid biped known as KHR-2 ran forward using the proposed running pattern generation method. Its maximum velocity was 2.88 km/h.

Effect of Trunk Swinging Behaviors on Planar Bipedal Walking with an Upper Body on Gentle Slope

2019 ◽  
Vol 31 (5) ◽  
pp. 686-696
Author(s):  
Toyoyuki Honjo ◽  
◽  
Hidehisa Yoshida
Keyword(s):  
Angular Momentum ◽  
Step Length ◽  
Bipedal Walking ◽  
Knee Joints ◽  
Upper Body ◽  
Lower Body ◽  
Gentle Slope ◽  
Gait Characteristics ◽  
Bipedal Gait ◽  
Walking Locomotion

Bipedal walking locomotion is one of the characteristics of human behavior. Both the lower body and the upper body (trunk) behaviors affect walking characteristics. To achieve a suitable gait, it is important to understand the effect of the trunk behavior. Therefore, in this paper, the effects of three types of trunk swinging behavior on planar bipedal gait in a model with an upper body – forward swinging, backward swinging, and no swinging – were evaluated using numerical simulations. To reduce control inputs and reflect the effect of upper body behavior, an underactuated bipedal walker without knee joints was adopted. This walker walked down a gentle slope using only hip actuation between the stance leg and the trunk. As a result, unique gait characteristics that depended on the direction of the trunk swinging behavior were found, including a longer step length and a lower-frequency gait with forward trunk swinging behavior and a shorter step length and higher-frequency gait with smaller angular momentum with backward trunk swinging behavior.

scholarly journals Analysis on Motion Control Based on Reaction Null Space for Ground Grip Robot on an Asteroid

2016 ◽  
Vol 14 (ists30) ◽  
pp. Pk_125-Pk_130 ◽  
Author(s):  
Yudai YUGUCHI ◽  
Warley F. R. RIBEIRO ◽  
Kenji NAGAOKA ◽  
Kazuya YOSHIDA
Keyword(s):  
Motion Control ◽  
Null Space ◽  
Reaction Null Space

3A1-E08 Motion/Force Control of Humanoid Robots With the Reaction Null-Space Method(Humanoid (1))

2014 ◽  
Vol 2014 (0) ◽  
pp. _3A1-E08_1-_3A1-E08_4
Author(s):  
Ryohei OKAWA ◽  
Yuki MURAMATSU ◽  
Shoichi TAGUCHI ◽  
Daisuke SATO ◽  
Yoshikazu KANAMIYA
Keyword(s):  
Force Control ◽  
Null Space ◽  
Humanoid Robots ◽  
Reaction Null Space ◽  
Space Method

YAW MOMENT COMPENSATION FOR BIPEDAL ROBOTS VIA INTRINSIC ANGULAR MOMENTUM CONSTRAINT

2012 ◽  
Vol 09 (04) ◽  
pp. 1250033 ◽  
Author(s):  
BARKAN UGURLU ◽  
JODY A. SAGLIA ◽  
NIKOS G. TSAGARAKIS ◽  
DARWIN G. CALDWELL
Keyword(s):  
Angular Momentum ◽  
Bipedal Walking ◽  
Upper Body ◽  
Rotational Inertia ◽  
Bipedal Robots ◽  
Bipedal Robot ◽  
Crucial Component ◽  
Intrinsic Angular Momentum ◽  
Momentum Constraint ◽  
Yaw Moment

This paper is aimed at describing a technique to compensate undesired yaw moment, which is inevitably induced about the support foot during single support phases while a bipedal robot is in motion. The main strategy in this method is to rotate the upper body in a way to exert a secondary moment that counteracts to the factors which create the undesired moment. In order to compute the yaw moment by considering all the factors, we utilized Eulerian ZMP Resolution, as it is capable of characterizing the robot's rotational inertia, a crucial component of its dynamics. In doing so, intrinsic angular momentum rate changes are smoothly included in yaw moment equations. Applying the proposed technique, we conducted several bipedal walking experiments using the actual bipedal robot CoMan. As the result, we obtained 61% decrease in undesired yaw moment and 82% regulation in yaw-axis deviation, which satisfactorily verify the efficiency of the proposed approach, in comparison to off-the-shelf techniques.

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