scholarly journals Dynamic locomotion for passive-ankle biped robots and humanoids using whole-body locomotion control

2020 ◽  
Vol 39 (8) ◽  
pp. 936-956
Author(s):  
Donghyun Kim ◽  
Steven Jens Jorgensen ◽  
Jaemin Lee ◽  
Junhyeok Ahn ◽  
Jianwen Luo ◽  
...  
Keyword(s):  
Control Method ◽  
Humanoid Robots ◽  
Whole Body ◽  
Dynamic Walking ◽  
Biped Robots ◽  
Mechanical Structure ◽  
Velocity Reversal ◽  
Depth Analysis ◽  
Six Degree Of Freedom ◽  
Task Oriented

Whole-body control (WBC) is a generic task-oriented control method for feedback control of loco-manipulation behaviors in humanoid robots. The combination of WBC and model-based walking controllers has been widely utilized in various humanoid robots. However, to date, the WBC method has not been employed for unsupported passive-ankle dynamic locomotion. As such, in this article, we devise a new WBC, dubbed the whole-body locomotion controller (WBLC), that can achieve experimental dynamic walking on unsupported passive-ankle biped robots. A key aspect of WBLC is the relaxation of contact constraints such that the control commands produce reduced jerk when switching foot contacts. To achieve robust dynamic locomotion, we conduct an in-depth analysis of uncertainty for our dynamic walking algorithm called the time-to-velocity-reversal (TVR) planner. The uncertainty study is fundamental as it allows us to improve the control algorithms and mechanical structure of our robot to fulfill the tolerated uncertainty. In addition, we conduct extensive experimentation for: (1) unsupported dynamic balancing (i.e., in-place stepping) with a six-degree-of-freedom biped, Mercury; (2) unsupported directional walking with Mercury; (3) walking over an irregular and slippery terrain with Mercury; and 4) in-place walking with our newly designed ten-DoF viscoelastic liquid-cooled biped, DRACO. Overall, the main contributions of this work are on: (a) achieving various modalities of unsupported dynamic locomotion of passive-ankle bipeds using a WBLC controller and a TVR planner; (b) conducting an uncertainty analysis to improve the mechanical structure and the controllers of Mercury; and (c) devising a whole-body control strategy that reduces movement jerk during walking.

scholarly journals Real-Time Whole-Body Imitation by Humanoid Robots and Task-Oriented Teleoperation Using an Analytical Mapping Method and Quantitative Evaluation

2018 ◽  
Vol 8 (10) ◽  
pp. 2005 ◽  
Author(s):  
Zhijun Zhang ◽  
Yaru Niu ◽  
Ziyi Yan ◽  
Shuyang Lin
Keyword(s):  
Real Time ◽  
Humanoid Robots ◽  
Mapping Method ◽  
Whole Body ◽  
Mode Switching ◽  
Natural Mode ◽  
And Performance ◽  
Virtual Joints ◽  
Task Oriented ◽  
And Task

Due to the limitations on the capabilities of current robots regarding task learning and performance, imitation is an efficient social learning approach that endows a robot with the ability to transmit and reproduce human postures, actions, behaviors, etc., as a human does. Stable whole-body imitation and task-oriented teleoperation via imitation are challenging issues. In this paper, a novel comprehensive and unrestricted real-time whole-body imitation system for humanoid robots is designed and developed. To map human motions to a robot, an analytical method called geometrical analysis based on link vectors and virtual joints (GA-LVVJ) is proposed. In addition, a real-time locomotion method is employed to realize a natural mode of operation. To achieve safe mode switching, a filter strategy is proposed. Then, two quantitative vector-set-based methods of similarity evaluation focusing on the whole body and local links, called the Whole-Body-Focused (WBF) method and the Local-Link-Focused (LLF) method, respectively, are proposed and compared. Two experiments conducted to verify the effectiveness of the proposed methods and system are reported. Specifically, the first experiment validates the good stability and similarity features of our system, and the second experiment verifies the effectiveness with which complicated tasks can be executed. At last, an imitation learning mechanism in which the joint angles of demonstrators are mapped by GA-LVVJ is presented and developed to extend the proposed system.

scholarly journals Dynamic walking and whole-body motion planning for humanoid robots: an integrated approach

2013 ◽  
Vol 32 (9-10) ◽  
pp. 1089-1103 ◽  
Author(s):  
Sébastien Dalibard ◽  
Antonio El Khoury ◽  
Florent Lamiraux ◽  
Alireza Nakhaei ◽  
Michel Taïx ◽  
...  
Keyword(s):  
Motion Planning ◽  
Integrated Approach ◽  
Humanoid Robots ◽  
Body Motion ◽  
Whole Body ◽  
Dynamic Walking

scholarly journals Real-Time Whole-Body Imitation by Humanoid Robots and Task-Oriented Teleoperation Using an Analytical Mapping Method and Quantitative Evaluation

2018 ◽  
Author(s):  
Zhijun Zhang ◽  
Yaru Niu ◽  
Ziyi Yan ◽  
Shuyang Lin
Keyword(s):  
Real Time ◽  
Humanoid Robots ◽  
Mapping Method ◽  
Whole Body ◽  
Mode Switching ◽  
Natural Mode ◽  
And Performance ◽  
Virtual Joints ◽  
Task Oriented ◽  
And Task

Due to the limitations on the capabilities of current robots regarding task learning and performance, imitation is an efficient social learning approach that endows a robot with the ability to transmit and reproduce human postures, actions, behaviors, etc., as a human does. Stable whole-body imitation and task-oriented teleoperation via imitation are challenging issues. In this paper, a novel comprehensive and unrestricted real-time whole-body imitation system for humanoid robots is designed and developed. To map human motions to a robot, an analytical method called geometrical analysis based on link vectors and virtual joints (GA-LVVJ) is proposed. In addition, a real-time locomotion method is employed to realize a natural mode of operation. To achieve safe mode switching, a filter strategy is proposed. Then, two quantitative vector-set-based methods of similarity evaluation focusing on the whole body and local links, called the Whole-Body-Focused (WBF) method and the Local-Link-Focused (LLF) method, respectively, are proposed and compared. Two experiments conducted to verify the effectiveness of the proposed methods and system are reported. Specifically, the first experiment validates the good stability and similarity features of our system, and the second experiment verifies the effectiveness with which complicated tasks can be executed. At last, an imitation learning mechanism in which the joint angles of demonstrators are mapped by GA-LVVJ is presented and developed to extend the proposed system.

scholarly journals Versatile Locomotion Planning and Control for Humanoid Robots

2021 ◽  
Vol 8 ◽  
Author(s):  
Junhyeok Ahn ◽  
Steven Jens Jorgensen ◽  
Seung Hyeon Bang ◽  
Luis Sentis
Keyword(s):  
Trajectory Optimization ◽  
Control Method ◽  
Biped Robot ◽  
Humanoid Robots ◽  
Integer Program ◽  
Whole Body ◽  
Walking Robots ◽  
Planning And Control ◽  
Floating Base ◽  
And Control

We propose a locomotion framework for bipedal robots consisting of a new motion planning method, dubbed trajectory optimization for walking robots plus (TOWR+), and a new whole-body control method, dubbed implicit hierarchical whole-body controller (IHWBC). For versatility, we consider the use of a composite rigid body (CRB) model to optimize the robot’s walking behavior. The proposed CRB model considers the floating base dynamics while accounting for the effects of the heavy distal mass of humanoids using a pre-trained centroidal inertia network. TOWR+ leverages the phase-based parameterization of its precursor, TOWR, and optimizes for base and end-effectors motions, feet contact wrenches, as well as contact timing and locations without the need to solve a complementary problem or integer program. The use of IHWBC enforces unilateral contact constraints (i.e., non-slip and non-penetration constraints) and a task hierarchy through the cost function, relaxing contact constraints and providing an implicit hierarchy between tasks. This controller provides additional flexibility and smooth task and contact transitions as applied to our 10 degree-of-freedom, line-feet biped robot DRACO. In addition, we introduce a new open-source and light-weight software architecture, dubbed planning and control (PnC), that implements and combines TOWR+ and IHWBC. PnC provides modularity, versatility, and scalability so that the provided modules can be interchanged with other motion planners and whole-body controllers and tested in an end-to-end manner. In the experimental section, we first analyze the performance of TOWR+ using various bipeds. We then demonstrate balancing behaviors on the DRACO hardware using the proposed IHWBC method. Finally, we integrate TOWR+ and IHWBC and demonstrate step-and-stop behaviors on the DRACO hardware.

Dynamic Cooperative Manipulating Pattern Generation for Mobile Humanoid Robot Using Waist Moment Compensation

2011 ◽  
Vol 201-203 ◽  
pp. 1978-1982
Author(s):  
Tie Jun Zhao
Keyword(s):  
Humanoid Robot ◽  
Control Method ◽  
Dynamic Effect ◽  
Humanoid Robots ◽  
Pattern Generation ◽  
Whole Body ◽  
Robotic Arm ◽  
Living Space ◽  
Zero Moment ◽  
The Stability

This research is aimed at dynamically stable motion and safety of mobile humanoid robots expected to work in a human living space. The mechanism of the mobile humanoid robot YIREN is described. A highly flexible anthropomorphic 7-DOF robotic arm and a new waist configuration with parallel driving motor are developed. Because the dynamitic behavior of manipulator and waist has an effect on the stability of mobile humanoid robots, the dynamitic model is built. By using the zero moment point, dynamic effect of the waist is obtained. A basic control method of whole body cooperative dynamic moving is proposed that uses waist cooperative motion to compensate for moment generated by the trajectory of the arms and the correctness of analysis is verified by experiments.

Impact Dynamics-Based Torso Control for Dynamic Walking Biped Robots

2018 ◽  
Vol 15 (03) ◽  
pp. 1850004 ◽  
Author(s):  
Xiang Luo ◽  
Dan Xia ◽  
Chi Zhu
Keyword(s):  
Control Method ◽  
Dynamic Walking ◽  
Biped Robots ◽  
Planning And Control ◽  
Control Objective ◽  
Walking Performance ◽  
Speed Stability ◽  
And Control ◽  
Single Support Phase ◽  
The Impact

This paper presents a control method of the torso for dynamic walking of biped robots. Specifically, we want to save the energy and improve the walking stability by the planning and control of torso orientation at landing. First, the impact process of leg exchange is formulated using a simplified model. Based on this, the influence of the torso orientation at landing on walking performance is investigated. Second, a control method of torso orientation, which is an under actuated control, is proposed to regulate the torso orientation in the single support phase (SSP). Third, the control module of the torso is integrated into the previously established control frame of 3D biped walking to implement the control objective of a 3D humanoid robot. The results of a number of simulations show the feasibility of the proposed method, and also explore the relations between the speed, stability and energy consumption with the landing orientation of the torso.

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