Effect of Heel to Toe Walking on Time Optimal Walking of a Biped During Single Support Phase

2014 ◽  
Author(s):  
Tara Farizeh ◽  
Mohammad Jafar Sadigh
Keyword(s):  
Whole Body ◽  
Maximum Speed ◽  
Flat Foot ◽  
Double Support ◽  
Time Optimal ◽  
Foot Model ◽  
Two Phases ◽  
Single Support Phase ◽  
Toe Walking ◽  
Support Phase

Dynamic modeling of a biped has gained lots of attention during past few decades. While stability and energy consumption were among the first issues which were considered by researchers, nowadays achieving maximum speed and improving pattern of motion to reach that speed are the important targets in this field. Walking model of bipeds usually includes two phases, single support phase (SSP), in which only the stance foot is in contact with the ground while the opposite leg is swinging; and double support phase (DSP) in which the swing leg is in contact with the ground in addition to the rear foot. It is common in the simplified model of walking to assume the stance leg foot, flat during the entire SSP; but one may know that for human walking, there is also a sub-phase during SSP in which the heel of stance foot leaves the ground while the whole body is supported by toe link. Actually in this sub phase the stance leg foot rotates around the toe joint. This paper is trying to study the effect of toe-link and heel to toe walking model on dynamic and specially speed of walking compare to flat foot model.

scholarly journals Feedback control of an underactuated planar bipedal robot with impulsive foot action

Robotica ◽  
2005 ◽  
Vol 23 (5) ◽  
pp. 567-580 ◽  
Author(s):  
Jun Ho Choi ◽  
J. W. Grizzle
Keyword(s):  
Design Method ◽  
Zero Dynamics ◽  
Bipedal Robot ◽  
Double Support ◽  
Hybrid Zero Dynamics ◽  
Foot Model ◽  
Poincaré Return Map ◽  
Efficient Gait ◽  
Single Support Phase ◽  
Support Phase

A planar underactuated bipedal robot with an impulsive foot model is considered. The analysis extends previous work on a model with unactuated point feet of Westervelt et al. to include the actuator model of Kuo. The impulsive actuator at each leg end is active only during the double support phase, which results in the model being identical to the model with unactuated point feet for the single support phase. However, the impulsive foot actuation results in a different model for the double support map. Conditions for the existence of a hybrid zero dynamics for the robot with foot actuation are studied. A feedback design method is proposed that integrates actuation in the single and double support phases. A stability analysis is performed using a Poincaré return map. As in Kuo's model, a more efficient gait is demonstrated with an impulsive foot action.

scholarly journals Walking Gait of a Biped with a Wearable Walking Assist Device

2015 ◽  
Vol 12 (04) ◽  
pp. 1550018 ◽  
Author(s):  
Yannick Aoustin
Keyword(s):  
Dynamic Model ◽  
Unique Solution ◽  
Energy Cost ◽  
Assist Device ◽  
Double Support ◽  
Kinematic Chains ◽  
Walking Gait ◽  
Time Period ◽  
Single Support Phase ◽  
Support Phase

A ballistic walking gait is designed for a planar biped equipped with a wearable walking assist device. The biped is a seven-link planar biped with two legs, two feet, and a trunk. The wearable walking assist device is composed of a bodyweight support, two upper legs, two lower legs, and two shoes. The dynamic model of the biped with its walking assist device, containing two closed kinematic chains, is calculated by virtually cutting each of both loops at one of their point. In the single support phase, the biped with its assist device moves due to the existence of a momentum, produced mechanically, without applying active torques in the inter-link joints. The biped and this assist device are controlled with impulsive torques at the instantaneous double support to obtain a cyclic gait. The impulsive torques are applied in the six inter-link joints of the biped and in several inter-link joints of the wearable walking assist device. The following distributions of impulsive torques, in the knees or the ankles, hips and knees, hips and ankles, or knees and ankles and the fully assist device, are compared with the case of no assistance for the biped. Each time, an infinity of solutions exists to find the impulsive torques. An energy cost functional defined from these impulsive torques is minimized to determine a unique solution. Numerical results show that for a given time period and a given length of the walking gait step, the assistance of the hips is a good compromise to help the biped.

A force-resisting balance control strategy for a walking biped robot under an unknown, continuous force

Robotica ◽  
2014 ◽  
Vol 34 (7) ◽  
pp. 1495-1516
Author(s):  
Yeoun-Jae Kim ◽  
Joon-Yong Lee ◽  
Ju-Jang Lee
Keyword(s):  
External Force ◽  
Control Strategy ◽  
Balance Control ◽  
Biped Robot ◽  
Second Step ◽  
Double Support ◽  
Zero Moment ◽  
External Forces ◽  
Single Support Phase ◽  
Support Phase

SUMMARYIn this paper, we propose and examine a force-resisting balance control strategy for a walking biped robot under the application of a sudden unknown, continuous force. We assume that the external force is acting on the pelvis of a walking biped robot and that the external force in the z-direction is negligible compared to the external forces in the x- and y-directions. The main control strategy involves moving the zero moment point (ZMP) of the walking robot to the center of the robot's sole resisting the externally applied force. This strategy is divided into three steps. The first step is to detect an abnormal situation in which an unknown continuous force is applied by examining the position of the ZMP. The second step is to move the ZMP of the robot to the center of the sole resisting the external force. The third step is to have the biped robot convert from single support phase (SSP) to double support phase (DSP) for an increased force-resisting capability. Computer simulations and experiments of the proposed methods are performed to benchmark the suggested control strategy.

scholarly journals Implementation and Integration of Fuzzy Algorithms for Descending Stair of KMEI Humanoid Robot

2020 ◽  
pp. 372-388
Author(s):  
Wulandari Puspita Sari ◽  
R. Sanggar Dewanto ◽  
Dadet Pramadihanto
Keyword(s):  
Humanoid Robot ◽  
Fuzzy Logic Controller ◽  
Integrated Control ◽  
Step Length ◽  
Smooth Transition ◽  
Double Support ◽  
Walking Gait ◽  
Single Support Phase ◽  
Support Phase ◽  
Double Support Phase

Locomotion of humanoid robot depends on the mechanical characteristic of the robot. Walking on descending stairs with integrated control systems for the humanoid robot is proposed. The analysis of trajectory for descending stairs is calculated by the constrains of step length stair using fuzzy algorithm. The established humanoid robot on dynamically balance on this matter of zero moment point has been pretended to be consisting of single support phase and double support phase. Walking transition from single support phase to double support phase is needed for a smooth transition cycle. To accomplish the problem, integrated motion and controller are divided into two conditions: motion working on offline planning and controller working online walking gait generation. To solve the defect during locomotion of the humanoid robot, it is directly controlled by the fuzzy logic controller. This paper verified the simulation and the experiment for descending stair of KMEI humanoid robot. 

Biped Walking Control Based on Quadratic Programming and Differential Inequalities

2020 ◽  
Author(s):  
Stella Diniz Urban ◽  
Bruno Vilhena Adorno
Keyword(s):  
Quadratic Programming ◽  
Center Of Mass ◽  
Bipedal Walking ◽  
Differential Inequalities ◽  
Double Support ◽  
Cycle Simulation ◽  
Minimum Height ◽  
Joint Limits ◽  
Single Support Phase ◽  
Support Phase

This paper presents a novel method to control a bipedal walking based on quadratic programming and differential inequalities using geometric primitives. We allow the center of mass to move anywhere inside the support polygon during the walking cycle, as opposed to classic methods, which usually rely on tracking a desired trajectory for the zero moment point. The constraints keep the robot balance, the pelvis above a minimum height, and prevent the violation of joint limits during the complete walking cycle. Simulation results using the legs of the Poppy humanoid robot show that the trajectories of the closed-loop system converge to the desired center of mass position during the double support phase and the swing foot's trajectories converge to the desired pose during the single support phase while all constraints are obeyed.

scholarly journals Optimal reference trajectories for walking and running of a biped robot

Robotica ◽  
2001 ◽  
Vol 19 (5) ◽  
pp. 557-569 ◽  
Author(s):  
C. Chevallereau ◽  
Y. Aoustin
Keyword(s):  
Biped Robot ◽  
Physical Parameters ◽  
Polynomial Functions ◽  
Minimal Energy ◽  
Double Support ◽  
Cyclic Motion ◽  
Under Construction ◽  
Single Support Phase ◽  
Reference Trajectories ◽  
Support Phase

The objective of this study is to obtain optimal cyclic gaits for a biped robot without actuated ankles. Two types of motion are studied: walking and running. For walking, the gait is composed uniquely of successive single support phases and instantaneous double support phases that are modelled by passive impact equations. The legs swap their roles from one single support phase to the next one. For running, the gait is composed of stance phases and flight phases. A passive impact with the ground exists at the end of flight. During each phase the evolution of m joints variables is assumed to be polynomial functions, m is the number of actuators. The evolution of the other variables is deduced from the dynamic model of the biped. The coefficients of the polynomial functions are chosen to optimise criteria and to insure cyclic motion of the biped. The chosen criteria are: maximal advance velocity, minimal torque, and minimal energy. Furthermore, the optimal gait is defined with respect to given performances of actuators: The torques and velocities at the output of the gear box are bounded. For this study, the physical parameters of a prototype, which is under construction, are used. Optimal walking and running are defined. The running is more efficient for high velocities than the walking with respect to the studied criteria.

When is Vestibular Information Important During Walking?

2004 ◽  
Vol 92 (3) ◽  
pp. 1269-1275 ◽  
Author(s):  
Leah R. Bent ◽  
J. Timothy Inglis ◽  
Bradford J. McFadyen
Keyword(s):  
Gait Cycle ◽  
Vestibular Stimulation ◽  
Upper Body ◽  
Foot Placement ◽  
Double Support ◽  
Vestibular Information ◽  
Heel Contact ◽  
Somatosensory Input ◽  
Single Support Phase ◽  
Support Phase

Locomotion relies on vision, somatosensory input, and vestibular information. Both vision and somatosensory signals have been shown to be phase dependently modulated during locomotion; however, the regulation of vestibular information has not been investigated in humans. By delivering galvanic vestibular stimulation (GVS) to subjects at either heel contact, mid-stance, or toe-off, it was possible to investigate when vestibular information was important during the gait cycle. The results indicated a difference in the vestibular regulation of upper versus lower body control. Upper body responses to GVS applied at different times did not differ in magnitude for the head ( P = 0.2383), trunk ( P = 0.1473), or pelvis ( P = 0.1732) showing a similar dependence on vestibular information for upper body alignment across the gait cycle. In contrast, foot placement was dependent on the time when stimulation was delivered. Changes in foot placement were significantly larger at heel contact (during the double support phase) than when stimulation was delivered at mid-stance (in the single support phase of the gait cycle; P = 0.0193). These latter results demonstrate, for the first time, evidence of phase-dependent modulation of vestibular information during human walking.

Dynamic Walking on Uneven Terrain Using the Time-Varying Divergent Component of Motion

2015 ◽  
Vol 12 (03) ◽  
pp. 1550027 ◽  
Author(s):  
Michael A. Hopkins ◽  
Dennis W. Hong ◽  
Alexander Leonessa
Keyword(s):  
Time Integration ◽  
Whole Body ◽  
Time Varying ◽  
Dynamic Walking ◽  
Reverse Time ◽  
Double Support ◽  
Uneven Terrain ◽  
Finite Time Horizon ◽  
Smooth Transitions ◽  
Toe Walking

This paper presents a framework for dynamic walking on uneven terrain using a novel time-varying extension of the divergent component of motion (DCM). By varying the natural frequency of the DCM, we are able to achieve generic CoM height trajectories during stepping. The proposed approach computes admissible DCM reference trajectories given desired zero moment point (ZMP) plans for single and double support, permitting both flat-footed and heel-toe walking. Real-time planning is accomplished using reverse-time integration of the discretized DCM dynamics over a finite time horizon. To account for discontinuities during replanning, linear model predictive control (MPC) is implemented over a short preview window, enabling smooth transitions between steps. DCM tracking control is achieved using a time-varying proportional-integral controller based on the virtual repellent point (VRP). The effectiveness of the combined approach is verified in simulation using a 30 DOF model of THOR, a compliant torque-controlled humanoid. We demonstrate dynamic locomotion on uneven terrain and heel-toe walking using a complementary whole-body controller to track the corresponding VRP forces.

Comparison of Selected Gait Parameters of Trainable Mentally Retarded and Nonretarded Males

1983 ◽  
Vol 57 (1) ◽  
pp. 56-58 ◽  
Author(s):  
Robert A. Rider ◽  
Charles H. Imwold
Keyword(s):  
Mentally Retarded ◽  
Double Support ◽  
Gait Parameters ◽  
Single Support Phase ◽  
Support Phase ◽  
Trainable Mentally Retarded

Although there were no significant differences in the single support phase of gait for 6 trainable mentally retarded boys (Mean age 9.6 yr.) and 6 nonretarded boys (Mean age 9.5 yr.), total gait time and time in double support were significantly different for the two groups, supporting previous research which showed gait was deficient in trainable mentally retarded individuals.

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