CONTROL OF A COMPLIANT HUMANOID ROBOT IN DOUBLE SUPPORT PHASE: A GEOMETRIC APPROACH

2012 ◽  
Vol 09 (01) ◽  
pp. 1250004 ◽  
Author(s):  
GUSTAVO MEDRANO CERDA ◽  
HOUMAN DALLALI ◽  
MARTIN BROWN
Keyword(s):  
Energy Efficiency ◽  
Degrees Of Freedom ◽  
Geometric Approach ◽  
Research Problem ◽  
Bipedal Walking ◽  
Constrained Motion ◽  
Double Support ◽  
Compliant Actuators ◽  
Support Phase ◽  
Double Support Phase

Enhancing energy efficiency of bipedal walking is an important research problem that has been approached by design of recently developed compliant bipedal robots such as CoMan. While compliance leads to energy efficiency, it also complicates the walking control system due to further under-actuated degrees of freedom (DoF) associated with the compliant actuators. This problem becomes more challenging as the constrained motion of the robot in double support is considered. In this paper this problem is approached from a multi-variable geometric control aspect to systematically account for the compliant actuators dynamics and constrained motion of the robot in double support phase using a detailed electro-mechanical model of CoMan. It is shown that the formulation of constraint subspace is non-trivial in the case of non-rigid robots. A step-wise numerical algorithm is provided and the effectiveness of the proposed method is illustrated via simulation, using a ten DoF model of CoMan.

DYNAMIC BIPEDAL WALKING WITH DOUBLE SUPPORT PHASE

2015 ◽  
Author(s):  
A. SAFONOV ◽  
M. SHYSH ◽  
A. TELESH ◽  
U. SCHMUCKER
Keyword(s):  
Bipedal Walking ◽  
Double Support ◽  
Support Phase ◽  
Double Support Phase

GA Based Trajectory Generation for a 7-DOF Biped Robot by Considering Feet Rotation during Double Support Phase

2012 ◽  
Vol 463-464 ◽  
pp. 1252-1255 ◽  
Author(s):  
Farsam Farzadpour ◽  
Mohammad Danesh
Keyword(s):  
High Speed ◽  
Trajectory Generation ◽  
Biped Robot ◽  
Bipedal Walking ◽  
Double Support ◽  
Straight Line ◽  
Zero Moment ◽  
The Stability ◽  
Support Phase ◽  
Double Support Phase

This paper presents a trajectory generation approach for a 7-DOF biped robot on level ground. Simultaneously rotation of feet in double support phase is considered which leads to high-speed and more similar to human being walking. The zero moment point (ZMP) stability criterion is used to ensure the stability of the bipedal walking robot. Since ZMP trajectory in human walking does not stay fixed, it needs to be a straight line shaped forward ZMP trajectory to have a natural walk. A genetic algorithm based method is proposed to obtain key parameters in trajectory generation such that the ZMP follows a predefined trajectory while minimizing power consumption. Simulation results demonstrate the effectiveness of the proposed method.

scholarly journals Effects of Torso Pitch Motion on Energy Efficiency of Biped Robot Walking

2021 ◽  
Vol 11 (5) ◽  
pp. 2342
Author(s):  
Long Li ◽  
Zhongqu Xie ◽  
Xiang Luo ◽  
Juanjuan Li
Keyword(s):  
Energy Efficiency ◽  
Energy Consumption ◽  
Biped Robot ◽  
Gait Pattern ◽  
Pattern Generation ◽  
Biped Robots ◽  
Pitch Motion ◽  
Double Support ◽  
Gait Parameters ◽  
Support Phase

Gait pattern generation has an important influence on the walking quality of biped robots. In most gait pattern generation methods, it is usually assumed that the torso keeps vertical during walking. It is very intuitive and simple. However, it may not be the most efficient. In this paper, we propose a gait pattern with torso pitch motion (TPM) during walking. We also present a gait pattern with torso keeping vertical (TKV) to study the effects of TPM on energy efficiency of biped robots. We define the cyclic gait of a five-link biped robot with several gait parameters. The gait parameters are determined by optimization. The optimization criterion is chosen to minimize the energy consumption per unit distance of the biped robot. Under this criterion, the optimal gait performances of TPM and TKV are compared over different step lengths and different gait periods. It is observed that (1) TPM saves more than 12% energy on average compared with TKV, and the main factor of energy-saving in TPM is the reduction of energy consumption of the swing knee in the double support phase and (2) the overall trend of torso motion is leaning forward in double support phase and leaning backward in single support phase, and the amplitude of the torso pitch motion increases as gait period or step length increases.

scholarly journals Overground Walking Decreases Alpha Activity and Entrains Eye Movements in Humans

2020 ◽  
Vol 14 ◽  
Author(s):  
Liyu Cao ◽  
Xinyu Chen ◽  
Barbara F. Haendel
Keyword(s):  
Eye Movements ◽  
Neuronal Activity ◽  
Walking Speed ◽  
Alpha Activity ◽  
Alpha Power ◽  
Electrode Impedance ◽  
Blink Rate ◽  
Double Support ◽  
Support Phase ◽  
Double Support Phase

Experiments in animal models have shown that running increases neuronal activity in early visual areas in light as well as in darkness. This suggests that visual processing is influenced by locomotion independent of visual input. Combining mobile electroencephalography, motion- and eye-tracking, we investigated the influence of overground free walking on cortical alpha activity (~10 Hz) and eye movements in healthy humans. Alpha activity has been considered a valuable marker of inhibition of sensory processing and shown to negatively correlate with neuronal firing rates. We found that walking led to a decrease in alpha activity over occipital cortex compared to standing. This decrease was present during walking in darkness as well as during light. Importantly, eye movements could not explain the change in alpha activity. Nevertheless, we found that walking and eye related movements were linked. While the blink rate increased with increasing walking speed independent of light or darkness, saccade rate was only significantly linked to walking speed in the light. Pupil size, on the other hand, was larger during darkness than during light, but only showed a modulation by walking in darkness. Analyzing the effect of walking with respect to the stride cycle, we further found that blinks and saccades preferentially occurred during the double support phase of walking. Alpha power, as shown previously, was lower during the swing phase than during the double support phase. We however could exclude the possibility that the alpha modulation was introduced by a walking movement induced change in electrode impedance. Overall, our work indicates that the human visual system is influenced by the current locomotion state of the body. This influence affects eye movement pattern as well as neuronal activity in sensory areas and might form part of an implicit strategy to optimally extract sensory information during locomotion.

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