scholarly journals The Rh-1 Full-Size Humanoid Robot: Design, Walking Pattern Generation and Control

2009 ◽  
Vol 6 (3-4) ◽  
pp. 301-344 ◽  
Author(s):  
M. Arbulú ◽  
D. Kaynov ◽  
L. Cabas ◽  
C. Balaguer
Keyword(s):  
Degrees Of Freedom ◽  
Humanoid Robot ◽  
Inverted Pendulum ◽  
Inverse Dynamics ◽  
Mechanical Design ◽  
Pattern Generation ◽  
Software Architectures ◽  
Second Phase ◽  
Structural Behaviour ◽  
Biped Walking

This paper is an overview of the humanoid robot Rh-1, the second phase of the Rh project, which was launched by the Robotics Lab at the Carlos III University of Madrid in 2002. The robot mechanical design includes the specifications development in order to construct a platform, which is capable of stable biped walking. At first, the robots’ weights were calculated in order to obtain the inverse dynamics and to select the actuators. After that, mechanical specifications were introduced in order to verify the robot’s structural behaviour with different experimental gaits. In addition, an important aspect is the joints design when their axes are crossed, which is called ‘Joints of Rectangular Axes’ (JRA). The problem with these joints is obtaining two or more degrees of freedom (DOF) in small space. The construction of a humanoid robot also includes the design of hardware and software architectures. The main advantage of the proposed hardware and software architectures is the use of standardised solutions frequently used in the automation industry and commercially available hardware components. It provides scalability, modularity and application of standardised interfaces and brings the design of the complex control system of the humanoid robot out of a closed laboratory to industry. Stable walking is the most essential ability for the humanoid robot. The three dimensional Linear Inverted Pendulum Model (3D-LIPM) and the Cart-table models had been used in order to achieve natural and dynamic biped walking. Humanoid dynamics is widely simplified by concentrating its mass in the centre of gravity (COG) and moving it following the natural inverted pendulum laws (3D-LIPM) or by controlling the cart motion (Cart-table model). An offline-calculated motion pattern does not guarantee the walking stability of the humanoid robot. Control architecture for the dynamic humanoid robot walking was developed, which is able to make online modifications of the motion patterns in order to adjust it to the continuously changing environment. Experimental results concerning biped locomotion of the Rh-1 humanoid robot are presented and discussed.

Biped Walking Using Multiple-Link Virtual Inverted Pendulum Models

1999 ◽  
Vol 11 (4) ◽  
pp. 304-309 ◽  
Author(s):  
Takayuki Furuta ◽  
◽  
Hideaki Yamato ◽  
Ken Tomiyama
Keyword(s):  
Degrees Of Freedom ◽  
Humanoid Robot ◽  
Inverted Pendulum ◽  
Model Reference ◽  
Biped Walking ◽  
Experimental Platform ◽  
Walking Control ◽  
Inverted Pendulum Model ◽  
Pendulum Model

The purpose of this study is to realize 3D biped walking in a humanoid robot. A robot that has 12 degrees of freedom with 2 legs was designed and constructed as an experimental platform. Model reference walking control with a virtual inverted pendulum model is proposed, implemented on the robot to realize stable walking.

New 3-DOFs Hybrid Mechanism for Ankle and Wrist of Humanoid Robot: Modeling, Simulation, and Experiments

2011 ◽  
Vol 133 (2) ◽  
Author(s):  
Samer Alfayad ◽  
Fethi B. Ouezdou ◽  
Faycal Namoun
Keyword(s):  
Degrees Of Freedom ◽  
Humanoid Robot ◽  
Power Transmission ◽  
Mechanical Design ◽  
Humanoid Robots ◽  
Classical Solutions ◽  
Kinematic Modeling ◽  
New Class ◽  
Hybrid Mechanism ◽  
And Control

This paper deals with the design of a new class of hybrid mechanism dedicated to humanoid robotics application. Since the designing and control of humanoid robots are still open questions, we propose the use of a new class of mechanisms in order to face several challenges that are mainly the compactness and the high power to mass ratio. Human ankle and wrist joints can be considered more compact with the highest power capacity and the lowest weight. The very important role played by these joints during locomotion or manipulation tasks makes their design and control essential to achieve a robust full size humanoid robot. The analysis of all existing humanoid robots shows that classical solutions (serial or parallel) leading to bulky and heavy structures are usually used. To face these drawbacks and get a slender humanoid robot, a novel three degrees of freedom hybrid mechanism achieved with serial and parallel substructures with a minimal number of moving parts is proposed. This hybrid mechanism that is able to achieve pitch, yaw, and roll movements can be actuated either hydraulically or electrically. For the parallel submechanism, the power transmission is achieved, thanks to cables, which allow the alignment of actuators along the shin or the forearm main axes. Hence, the proposed solution fulfills the requirements induced by both geometrical, power transmission, and biomechanics (range of motion) constraints. All stages including kinematic modeling, mechanical design, and experimentation using the HYDROïD humanoid robot’s ankle mechanism are given in order to demonstrate the novelty and the efficiency of the proposed solution.

Biped walking pattern generation by a simple three-dimensional inverted pendulum model

2003 ◽  
Vol 17 (2) ◽  
pp. 131-147 ◽  
Author(s):  
Shuuji Kajita ◽  
Fumio Kanehiro ◽  
Kenji Kaneko ◽  
Kiyoshi Fujiwara ◽  
Kazuhito Yokoi ◽  
...  
Keyword(s):  
Inverted Pendulum ◽  
Three Dimensional ◽  
Pattern Generation ◽  
Biped Walking ◽  
Inverted Pendulum Model ◽  
Walking Pattern ◽  
Pendulum Model ◽  
Walking Pattern Generation

Locomotion pattern generation and mechanisms of a new biped walking machine

2007 ◽  
Vol 464 (2089) ◽  
pp. 273-288 ◽  
Author(s):  
Hun-ok Lim ◽  
Y Ogura ◽  
Atsuo Takanishi
Keyword(s):  
Lower Limb ◽  
Humanoid Robot ◽  
Pattern Generation ◽  
Dynamic Walking ◽  
Joint Angles ◽  
Singularity Problem ◽  
Biped Walking ◽  
Walking Machine ◽  
Object A ◽  
Locomotion Pattern

This paper describes the mechanism of a 16 d.f. biped walking machine, Waseda biped humanoid robot-2 lower limb (WABIAN-2LL), which has two 7 d.f. legs and a 2 d.f. waist actuated by DC servo motors with reduction gears. WABIAN-2LL is designed with large movable angle ranges like those of a human. Its height and weight are 1200 mm and 40 kg, respectively. It is able to walk with its knees stretched using the redundancy of the legs and to move around an object using a hip-bending motion without touching the object. A knee-stretched locomotion pattern generation is also proposed in this paper, which separately creates joint angles in a supporting and a swinging phase. During knee-stretched walking, the joint rate of the knee will approach infinitely when the knee is stretched. This singularity problem is solved by using the motion of the waist, not the posture of the trunk. The effectiveness of the mechanisms and pattern generations of WABIAN-2LL is verified through dynamic walking experiments.

DEVELOPMENT AND WALKING CONTROL OF EMOTIONAL HUMANOID ROBOT, KIBO

2013 ◽  
Vol 10 (04) ◽  
pp. 1350024 ◽  
Author(s):  
SANGYONG LEE ◽  
JUNG-YUP KIM ◽  
MUNSANG KIM
Keyword(s):  
Humanoid Robot ◽  
Mechanical Design ◽  
Inertial Sensor ◽  
Pattern Generator ◽  
Sensor Data ◽  
Dynamic Walking ◽  
Biped Walking ◽  
Control Approach ◽  
Walking Control ◽  
Walking Pattern

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.

A generic walking pattern generation method for humanoid robot walking on the slopes

2016 ◽  
Vol 43 (3) ◽  
pp. 317-327 ◽  
Author(s):  
Fayong Guo ◽  
Tao Mei ◽  
Marco Ceccarelli ◽  
Ziyi Zhao ◽  
Tao Li ◽  
...  
Keyword(s):  
Humanoid Robot ◽  
Inverted Pendulum ◽  
Humanoid Robots ◽  
3D Models ◽  
Pattern Generation ◽  
Motion Equations ◽  
Content Type ◽  
Walking Pattern ◽  
Landing Impact ◽  
Walking Pattern Generation

Purpose Walking on inclined ground is an important ability for humanoid robots. In general, conventional strategies for walking on slopes lack technical analysis in, first, the waist posture with respect to actual robot and, second, the landing impact, which weakens the walking stability. The purpose of this paper is to propose a generic method for walking pattern generation considering these issues with the aim of enabling humanoid robot to walk dynamically on a slope. Design/methodology/approach First, a virtual ground method (VGM) is proposed to give a continuous and intuitive zero-moment point (ZMP) on slopes. Then, the dynamic motion equations are derived based on 2D and 3D models, respectively, by using VGM. Furthermore, the waist posture with respect to the actual robot is analyzed. Finally, a reformative linear inverted pendulum (LIP) named the asymmetric linear inverted pendulum (ALIP) is proposed to achieve stable and dynamical walking in any direction on a slope with lower landing impact. Findings Simulations and experiments are carried out using the DRC-XT humanoid robot platform with the aim of verifying the validity and feasibility of these new methods. ALIP with consideration of waist posture is practical in extending the ability of walking on slopes for humanoid robots. Originality/value A generic method called ALIP for humanoid robots walking on slopes is proposed. ALIP is based on LIP and several changes, including model analysis, motion equations and ZMP functions, are discussed.

scholarly journals A minimized falling damage method for humanoid robots

2017 ◽  
Vol 14 (5) ◽  
pp. 172988141772801 ◽  
Author(s):  
Qingqing Li ◽  
Xuechao Chen ◽  
Yuhang Zhou ◽  
Zhangguo Yu ◽  
Weimin Zhang ◽  
...  
Keyword(s):  
Motion Capture ◽  
Humanoid Robot ◽  
Inverted Pendulum ◽  
Humanoid Robots ◽  
Living Environment ◽  
Second Phase ◽  
Leg Length ◽  
Heuristic Strategy ◽  
Two Phases ◽  
The Impact

In order to better adapt to human living environment for improving the ability of serving people on various occasions, humanoid robots need to prevent themselves from being severely damaged during falling backward. In this article, we have study the law of human falling motion with a motion capture system and propose a minimized falling damage method for humanoid robots. Falling backward is divided into two phases: the falling phase and the touchdown phase. The parametric optimal strategy based on inverted pendulum with flywheel is used to plan the motion of robot in the first phase to reduce the impact. In the second phase, to prevent the robot from bouncing and rolling over, the heuristic strategy including the best ratio of leg length inspired by biomechanical is adopted. The experiments have been tested on the BIT Humanoid Robot 6 prototype platform and the presented method has been validated.

Dynamic simulation and experiments for the design of a new 7-dofs biped walking leg module

Robotica ◽  
2004 ◽  
Vol 22 (1) ◽  
pp. 41-50 ◽  
Author(s):  
Giuseppe Carbone ◽  
Yu Ogura ◽  
Hun-ok Lim ◽  
Atsuo Takanishi ◽  
Marco Ceccarelli
Keyword(s):  
Dynamic Simulation ◽  
Humanoid Robot ◽  
Mechanical Design ◽  
Experimental Tests ◽  
Biped Walking

In this paper the mechanical design for a new 7-dofs leg is investigated as a walking module for a humanoid robot. In particular, a dynamic simulation is deduced by means of a Newton-Euler formulation and implemented numerically in order to compute the needed input actuator torques. A simulation is carried out for a similar built leg prototype that is used as a walking module for WABIAN-RIV (WAseda BIped humANoid robot-Revised IV). Experimental tests are carried out on this existing leg in order to validate the proposed formulation for a similar application. Thus, the validated formulation has been used in order to design the actuators for a new leg prototype.

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