Push Recovery Strategy of Dynamic Gait Transition between Walking, Running and Hopping

2019 ◽  
Vol 16 (03) ◽  
pp. 1940001 ◽  
Author(s):  
Takumi Kamioka ◽  
Hiroyuki Kaneko ◽  
Mitsuhide Kuroda ◽  
Chiaki Tanaka ◽  
Shinya Shirokura ◽  
...  
Keyword(s):  
Parallel Computing ◽  
Cost Function ◽  
Forward Direction ◽  
Planning Method ◽  
Recovery Strategy ◽  
External Disturbances ◽  
Gait Transition ◽  
Lateral Direction ◽  
Push Recovery ◽  
Dynamic Gait

Re-planning of gait trajectory is a crucial ability to compensate for external disturbances. To date, a large number of methods for re-planning footsteps and timing have been proposed. However, robots with the ability to change gait from walking to running or from walking to hopping were never proposed. In this paper, we propose a method for re-planning not only for footsteps and timing but also for the types of gait which consists of walking, running and hopping. The re-planning method of gait type consists of parallel computing and a ranking system with a novel cost function. To validate the method, we conducted push recovery experiments which were pushing in the forward direction when walking on the spot and pushing in the lateral direction when walking in the forward direction. Results of experiments showed that the proposed algorithm effectively compensated for external disturbances by making a gait transition.

Dynamic gait transition between walking, running and hopping for push recovery

2017 ◽  
Author(s):  
Takumi Kamioka ◽  
Hiroyuki Kaneko ◽  
Mitsunide Kuroda ◽  
Chiaki Tanaka ◽  
Shinya Shirokura ◽  
...  
Keyword(s):  
Gait Transition ◽  
Push Recovery ◽  
Dynamic Gait

A push recovery strategy for a passively compliant humanoid robot using decentralized LQR controllers

2013 ◽  
Author(s):  
E. Spyrakos-Papastavridis ◽  
G. A. Medrano-Cerda ◽  
N. G. Tsagarakis ◽  
J. S. Dai ◽  
D. G. Caldwell
Keyword(s):  
Humanoid Robot ◽  
Recovery Strategy ◽  
Push Recovery

scholarly journals Walking Motion Generation and Neuro-Fuzzy Control with Push Recovery for Humanoid Robot

2017 ◽  
Vol 12 (3) ◽  
pp. 330 ◽  
Author(s):  
Paul Erick Mendez Monroy
Keyword(s):  
Embedded System ◽  
Humanoid Robot ◽  
External Disturbance ◽  
Computational Cost ◽  
Dynamic Environment ◽  
Motion Generation ◽  
Recovery Strategy ◽  
Push Recovery ◽  
Neuro Fuzzy ◽  
Recovery Approach

Push recovery is an essential requirement for a humanoid robot with the objective of safely performing tasks within a real dynamic environment. In this environment, the robot is susceptible to external disturbance that in some cases is inevitable, requiring push recovery strategies to avoid possible falls, damage in humans and the environment. In this paper, a novel push recovery approach to counteract disturbance from any direction and any walking phase is developed. It presents a pattern generator with the ability to be modified according to the push recovery strategy. The result is a humanoid robot that can maintain its balance in the presence of strong disturbance taking into account its magnitude and determining the best push recovery strategy. Push recovery experiments with different disturbance directions have been performed using a 20 DOF Darwin-OP robot. The adaptability and low computational cost of the whole scheme allows is incorporation into an embedded system.

Design of a robust dynamic gait of the biped using the concept of dynamic stability margin

Robotica ◽  
1995 ◽  
Vol 13 (5) ◽  
pp. 461-468 ◽  
Author(s):  
Young-Jin Seo ◽  
Yong-San Yoon
Keyword(s):  
Dynamic Stability ◽  
External Disturbance ◽  
Stability Margin ◽  
Biped Robot ◽  
Computational Technique ◽  
External Disturbances ◽  
Feasible Set ◽  
Perturbed State ◽  
Foot Strike ◽  
Dynamic Gait

SummaryA computational technique for designing a physically realizable robust dynamic gait for a planar biped robot is developed. Firstly, a feasible set of gaits was constructed to satisfy the periodicity of the biped locomotion. Then the concept of dynamic, stability margin is introduced based on the robustness of a gait with respect to the external disturbances. Using that margin, we can assess the robustness of each dynamic gait in the feasible set. It is found that the parameter, called foot strike time margin, representing the readiness of the foot strike has a close positive correlation with the dynamic stability margin. We obtain a robust gait with respect to the external disturbance by maximizing the foot strike time margin. The robustness of the optimal gait is confirmed by the behavior of the gait after application of linear impulse as well as by the examination of the largest eigenvalue at the perturbed state.

Growth Model of Circumferential Outer Diameter Stress Corrosion Crack in Retired Steam Generator Tube of Kori 1 Nuclear Power Plant

2007 ◽  
Vol 124-126 ◽  
pp. 1529-1532
Author(s):  
Dong Jin Kim ◽  
Hong Pyo Kim ◽  
Joung Soo Kim ◽  
Yun Soo Lim ◽  
Seong Sik Hwang
Keyword(s):  
Power Plant ◽  
Nuclear Power Plant ◽  
Stress Corrosion ◽  
Steam Generator ◽  
Growth Model ◽  
Nuclear Power ◽  
Forward Direction ◽  
Outer Diameter ◽  
Lateral Direction ◽  
Steam Generator Tube

Growth model of a circumferential outer diameter stress corrosion crack (ODSCC) in a retired steam generator tube of the Kori 1 nuclear power plant was proposed based on extensive destructive examinations of the pulled tubes of Alloy 600 from the Kori 1 plant. A small ODSCC grows in a lateral direction as well as a forward direction until it meets a neighboring ODSCC which also grows in a lateral direction as well as a forward direction. And then, the two ODSCCs which meet on the same circumferential plane are consolidated into a single ODSCC. By repeating such a consolidation process with time, it seems that the apparent growth rate of an ODSCC in the lateral direction is much faster than that in the forward direction. Growth model of a circumferential ODSCC from a retired steam generator tube of the Kori 1 plant reveals that many ODSCCs are initiated and grow in both directions independently until they meet and finally they are consolidated.

scholarly journals Matrix Inequalities Based Robust Model Predictive Control for Vehicle Considering Model Uncertainties, External Disturbances, and Time-Varying Delay

2021 ◽  
Vol 14 ◽  
Author(s):  
Wenjun Liu ◽  
Guang Chen ◽  
Alois Knoll
Keyword(s):  
Cost Function ◽  
Infinite Horizon ◽  
Control Law ◽  
Time Varying ◽  
Model Uncertainties ◽  
External Disturbances ◽  
Robust Model Predictive Control ◽  
Time Varying Delay ◽  
Robust Model ◽  
Varying Delay

In this paper, we design a robust model predictive control (MPC) controller for vehicle subjected to bounded model uncertainties, norm-bounded external disturbances and bounded time-varying delay. A Lyapunov-Razumikhin function (LRF) is adopted to ensure that the vehicle system state enters in a robust positively invariant (RPI) set under the control law. A quadratic cost function is selected as the stage cost function, which yields the upper bound of the infinite horizon cost function. A Lyapunov-Krasovskii function (LKF) candidate related to time-varying delay is designed to obtain the upper bound of the infinite horizon cost function and minimize it at each step by using matrix inequalities technology. Then the robust MPC state feedback control law is obtained at each step. Simulation results show that the proposed vehicle dynamic controller can steer vehicle states into a very small region near the reference tracking signal even in the presence of external disturbances, model uncertainties and time-varying delay. The source code can be downloaded on https://github.com/wenjunliu999.

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