An investigation on robust biped walking using compliant force control and a online walking pattern generator

This paper deals with the mechanical design, system integration, and dynamic walking algorithm of KIBO, an emotional biped humanoid robot that has a facial expression mechanism and various human-interactive devices. To emphasize the aesthetic features and marketability of KIBO, the mechanical design was performed after the exterior design stage to conform to all requirements, particularly constraints imposed by the external appearance and human-like link dimensions. For flexible biped walking, a walking pattern generator with variable walking parameters was developed. The walking pattern generator generates both a walking pattern and a corresponding reference zero-moment point (ZMP) pattern simultaneously. For stable biped walking, a walking control strategy using the ZMP and inertial sensor data was developed. In the strategy, we newly proposed a dual ZMP control approach and a posture control approach using an equivalent body inclination, which is calculated from the ZMP and inertial sensor data for robust walking on non-level ground. Finally, the hardware, software architecture, and dynamic walking performance of KIBO were verified through several walking experiments.

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A biped walking pattern generator based on “half-steps” for dimensionality reduction

2011 IEEE International Conference on Robotics and Automation ◽

10.1109/icra.2011.5979917 ◽

2011 ◽

Cited By ~ 7

Author(s):

Nicolas Perrin ◽

Olivier Stasse ◽

Florent Lamiraux ◽

Eiichi Yoshida

Keyword(s):

Dimensionality Reduction ◽

Pattern Generator ◽

Biped Walking ◽

Walking Pattern

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Optimal Biped Walking Pattern Generator with Preset Hip-Shift Using JAYA Optimization Algorithm

2019 International Symposium on Electrical and Electronics Engineering (ISEE) ◽

10.1109/isee2.2019.8920982 ◽

2019 ◽

Author(s):

Tran Thien Huan ◽

Ho Pham Huy Anh

Keyword(s):

Optimization Algorithm ◽

Pattern Generator ◽

Biped Walking ◽

Walking Pattern

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A novel method of biped walking pattern generation with predetermined knee joint motion

2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566) ◽

10.1109/iros.2004.1389838 ◽

2005 ◽

Cited By ~ 29

Author(s):

Yu Ogura ◽

T. Kataoka ◽

Hun-ok Lim ◽

A. Takanishi ◽

K. Shimomma

Keyword(s):

Knee Joint ◽

Pattern Generation ◽

Joint Motion ◽

Biped Walking ◽

Walking Pattern ◽

Knee Joint Motion ◽

Walking Pattern Generation ◽

Novel Method

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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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Intra- and intersegmental pathways active during walking in the locust

Proceedings of the Royal Society of London Series B Biological Sciences ◽

10.1098/rspb.1983.0040 ◽

1983 ◽

Vol 218 (1212) ◽

pp. 287-308 ◽

Cited By ~ 12

Keyword(s):

Pattern Generator ◽

Short Latency ◽

Chordotonal Organ ◽

Campaniform Sensilla ◽

Flexor Muscle ◽

Walking Pattern ◽

Excitatory Pathways ◽

Motor Information ◽

Antagonist Group ◽

Stimulation Of

Electrical stimulation of femoral chordotonal organs, trochanteral campaniform sensilla, trochanteral hairplates and tibial muscles was used to reveal neuronal pathways active in the standing and walking locust. Responses evoked by campaniform sensilla stimulation were also recorded intracellularly from flexor motoneurons in fixed animals. The trochanteral campaniform sensilla have a direct short-latency connection to tibial extensor motoneurons and more labile, longer-latency, excitatory and inhibitory connections to the tibial flexors of the same leg. Trains of stimuli to the trochanteral campaniform sensilla initiated an early swing only if the stimulation was timed to occur during late stance. The importance of this type of load afference in step-timing was demonstrated by amputating the mesothoracic leg: the stump oscillated at a higher than normal frequency. Addition of a prosthetic leg restored normal stepping. Stimulation of the femoral chordotonal organ revealed short latency, excitatory pathways to both extensor and flexor motoneurons of the same leg. Trains of stimuli to the organ initiated early swing of this leg if applied late in stance. Stimulation of either the flexor or the extensor muscle evoked a response in the antagonist group of the same leg which was abolished by amputation distal to the muscles. The flexor-evoked response functioned only in the presence of load afference. The same was found for the pathway to the walking-pattern generator activated by stimulating the flexor muscle. Stimulation of the posterior trochanteral hairplates often evoked a swing but the latency could be several hundred milliseconds. Deafferentation showed that sensory input is critical for interganglionic coordination. There are labile polysynaptic excitatory and inhibitory pathways from the trochanteral campaniform senilla to the flexor motoneurons of the adjacent leg. Trains could evoke an early swing in the adjacent leg if time to occur during late stance and if the homonymous leg itself was not in late stance. Stimulation of the chordotonal organ revealedfast-conducting stable pathways to the flexors and extensors of all the ipsilateral legs. Trains could induce an early swing if timed late in the stance of the adjacent leg and if the homonymous leg itself was not in late stance. Amputation of the adjacent leg had no effect on the direct evoked responses but swing could not be evoked unless a prosthesis was added. Load afference is necessary for the effectiveness of the intersegmental chordotonal input to the walkingpattern generator. Stimulation of the trochanteral hairplate revealed no intersegmental pathway. The intra- and intersegmental pathways revealed by our experiments are summarized diagrammatically. The results suggest that an important function of load afference is to modulate the flow of proprioceptive and motor information within the walking-pattern generator.

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