scholarly journals Neural oscillator network–based biped control for self-adapting gait

2018 ◽  
Vol 10 (11) ◽  
pp. 168781401881124
Author(s):  
Woosung Yang
Keyword(s):  
Visual Information ◽  
Humanoid Robot ◽  
Center Of Mass ◽  
Neural Oscillator ◽  
Human Beings ◽  
Motion Trajectories ◽  
Slope Change ◽  
Oscillator Network ◽  
Zero Moment ◽  
Walking Mechanism

Walking on floors with a varying slope needs more adaptive walking controller against the slope change, since that kind of walking becomes unstable easily without visual information. It may be difficult even for human beings to keep the walking stability without seeing the slope. This work presents a neural oscillator network to generate the patterns for periodic bipedal locomotion, which enable a humanoid robot to adapt to slope change of terrain. Motion trajectories of each limb (each hand and foot) are first defined in terms of periodic functions, the coefficients of which are the output parameters of neural oscillators. Those parameters are determined with the neural oscillator network in cooperation with sensory signals that detect the states of feet in contact with the terrain such that the motion trajectories are scaled for the walking stability. In addition, for the same reason, the neural oscillator controls the trajectories of the center of mass and the zero moment point of humanoid. Using the proposed method, the walking of the humanoid was performed on uneven and uncertain terrain. This application for the humanoid robot may draw some helpful hints on understanding human beings’ walking mechanism against the terrain with a varying slope.

Heel-Contact Toe-Off Walking Pattern Generator Based on the Linear Inverted Pendulum

2016 ◽  
Vol 13 (01) ◽  
pp. 1650002 ◽  
Author(s):  
Yukitoshi Minami Shiguematsu ◽  
Przemyslaw Kryczka ◽  
Kenji Hashimoto ◽  
Hun-Ok Lim ◽  
Atsuo Takanishi
Keyword(s):  
Simple Model ◽  
Humanoid Robot ◽  
Inverted Pendulum ◽  
Center Of Mass ◽  
Pattern Generator ◽  
Walking Pattern ◽  
Heel Contact ◽  
Zero Moment ◽  
Two Stages ◽  
Multibody Dynamics Model

We propose a novel heel-contact toe-off walking pattern generator for a biped humanoid robot. It is divided in two stages: a simple model stage where a Linear Inverted Pendulum (LIP) based heel-contact toe-off walking model based on the so-called functional rockers of the foot (heel, ankle and forefoot rockers) is used to calculate step positions and timings, and the Center of Mass (CoM) trajectory taking step lengths as inputs, and a multibody dynamics model stage, where the final pattern to implement on the humanoid robot is obtained from the output of the first simple model stage. The final pattern comprises the Zero Moment Point (ZMP) reference, the joint angle references and the end effector references. The generated patterns were implemented on our robotic platform, WABIAN-2R to evaluate the generated walking patterns.

Humanoid gait generation in complex environments based on template models and optimality principles learned from human beings

2018 ◽  
Vol 37 (10) ◽  
pp. 1184-1204 ◽  
Author(s):  
Debora Clever ◽  
Yue Hu ◽  
Katja Mombaur
Keyword(s):  
Optimal Control ◽  
Motion Capture ◽  
Humanoid Robot ◽  
Center Of Mass ◽  
Humanoid Robots ◽  
Human Motion ◽  
Human Beings ◽  
Inverse Optimal Control ◽  
Gait Generation ◽  
Template Model

In this paper, we present an inverse optimal control-based transfer of motions from human experiments to humanoid robots and apply it to walking in constrained environments. To this end, we introduce a 3D template model, which describes motion on the basis of center-of-mass trajectory, foot trajectories, upper-body orientation, and phase duration. Despite its abstract architecture, with prismatic joints combined with damped series elastic actuators instead of knees, the model (including dynamics and constraints) is suitable for describing both human and humanoid locomotion with appropriate parameters. We present and apply an inverse optimal control approach to identify optimality criteria based on human motion capture experiments. The identified optimal strategy is then transferred to a humanoid robot template model for gait generation by solving an optimal control problem, which takes into account the properties of the robot and differences in the environment. The results of this step are the center-of-mass trajectory, the foot trajectories, the torso orientation, and the single and double support phase durations for a sequence of steps, allowing the humanoid robot to walk within a new environment. In a previous paper, we have already presented one computational cycle (from motion capture data to an optimized robot template motion) for the example of walking over irregular stepping stones with the aim of transferring the motion to two very different humanoid robots (iCub@Heidelberg and HRP-2@LAAS). This study represents an extension, containing an entirely new part on the transfer of the optimized template motion to the iCub robot by means of inverse kinematics in a dynamic simulation environment and also on the real robot.

Effects of COM Vertical Oscillation on Joint Torques During 3D Walking of Humanoid Robots

2016 ◽  
Vol 13 (04) ◽  
pp. 1650019 ◽  
Author(s):  
Sahab Omran ◽  
Sophie Sakka ◽  
Yannick Aoustin
Keyword(s):  
Humanoid Robot ◽  
Inverted Pendulum ◽  
Center Of Mass ◽  
Vertical Motion ◽  
Humanoid Robots ◽  
Dynamics Simulation ◽  
Vertical Oscillation ◽  
Human Beings ◽  
Joint Torques ◽  
Consequent Reduction

This paper proposes an analysis of the effect of vertical motion of the center of mass (COM) during humanoid walking. The linear inverted pendulum (LIP) model is classically used to deal with humanoid balance during walking. The effects on energy consumption of the COM height remaining constant for humanoid robots, or varying like human beings are studied here. Two approaches are introduced for the comparison: the LIP which offers the great advantage of analytical solving (i.e., fast and easy calculations), and a numerical solving of the IP dynamics, which allows varying the height of the center of mass during walking. The results are compared using a sthenic criterion in a 3D dynamics simulation of the humanoid robot Romeo (Aldebaran Robotics Company) and show a consequent reduction of the robot torque solicitation when the COM oscillates vertically.

scholarly journals Bio-Inspired Modality Fusion for Active Speaker Detection

2021 ◽  
Vol 11 (8) ◽  
pp. 3397
Author(s):  
Gustavo Assunção ◽  
Nuno Gonçalves ◽  
Paulo Menezes
Keyword(s):  
Superior Colliculus ◽  
Visual Information ◽  
Human Beings ◽  
Validation Process ◽  
Detection Approach ◽  
Wide Range ◽  
Speaker Detection ◽  
The One ◽  
The Brain ◽  
Fusion Ability

Human beings have developed fantastic abilities to integrate information from various sensory sources exploring their inherent complementarity. Perceptual capabilities are therefore heightened, enabling, for instance, the well-known "cocktail party" and McGurk effects, i.e., speech disambiguation from a panoply of sound signals. This fusion ability is also key in refining the perception of sound source location, as in distinguishing whose voice is being heard in a group conversation. Furthermore, neuroscience has successfully identified the superior colliculus region in the brain as the one responsible for this modality fusion, with a handful of biological models having been proposed to approach its underlying neurophysiological process. Deriving inspiration from one of these models, this paper presents a methodology for effectively fusing correlated auditory and visual information for active speaker detection. Such an ability can have a wide range of applications, from teleconferencing systems to social robotics. The detection approach initially routes auditory and visual information through two specialized neural network structures. The resulting embeddings are fused via a novel layer based on the superior colliculus, whose topological structure emulates spatial neuron cross-mapping of unimodal perceptual fields. The validation process employed two publicly available datasets, with achieved results confirming and greatly surpassing initial expectations.

scholarly journals Knee-stretched walking with toe-off and heel-strike for a position-controlled humanoid robot based on model predictive control

2021 ◽  
Vol 18 (4) ◽  
pp. 172988142110362
Author(s):  
Zelin Huang ◽  
Zhangguo Yu ◽  
Xuechao Chen ◽  
Qingqing Li ◽  
Libo Meng ◽  
...  
Keyword(s):  
Model Predictive Control ◽  
Predictive Control ◽  
Energy Efficient ◽  
Humanoid Robot ◽  
Center Of Mass ◽  
Heel Strike ◽  
Gait Generation ◽  
Double Support ◽  
Transition Moments ◽  
Efficient Gait

Knee-stretched walking is considered to be a human-like and energy-efficient gait. The strategy of extending legs to obtain vertical center of mass trajectory is commonly used to avoid the problem of singularities in knee-stretched gait generation. However, knee-stretched gait generation utilizing this strategy with toe-off and heel-strike has kinematics conflicts at transition moments between single support and double support phases. In this article, a knee-stretched walking generation with toe-off and heel-strike for the position-controlled humanoid robot has been proposed. The position constraints of center of mass have been considered in the gait generation to avoid the kinematics conflicts based on model predictive control. The method has been verified in simulation and validated in experiment.

scholarly journals Transfer Entropy Based Causality From Head Motion To Eye Movement

2021 ◽  
Author(s):  
Zezhong Lv ◽  
Qing Xu ◽  
Klaus Schoeffmann ◽  
Simon Parkinson
Keyword(s):  
Eye Movement ◽  
Information Acquisition ◽  
Visual Information ◽  
Transfer Entropy ◽  
Movement Behavior ◽  
Head Motion ◽  
Human Beings ◽  
Sensorimotor Activity ◽  
Set Up ◽  
Psychophysical Studies

AbstractEye movement behavior, which provides the visual information acquisition and processing, plays an important role in performing sensorimotor tasks, such as driving, by human beings in everyday life. In the procedure of performing sensorimotor tasks, eye movement is contributed through a specific coordination of head and eye in gaze changes, with head motions preceding eye movements. Notably we believe that this coordination in essence indicates a kind of causality. In this paper, we investigate transfer entropy to set up a quantity for measuring an unidirectional causality from head motion to eye movement. A normalized version of the proposed measure, demonstrated by virtual reality based psychophysical studies, behaves very well as a proxy of driving performance, suggesting that quantitative exploitation of coordination of head and eye may be an effective behaviometric of sensorimotor activity.

scholarly journals Simulation of Disturbance Recovery Based on MPC and Whole-Body Dynamics Control of Biped Walking

Sensors ◽  
2020 ◽  
Vol 20 (10) ◽  
pp. 2971 ◽  
Author(s):  
Xuanyang Shi ◽  
Junyao Gao ◽  
Yizhou Lu ◽  
Dingkui Tian ◽  
Yi Liu
Keyword(s):  
Large Scale ◽  
Center Of Mass ◽  
Biped Robot ◽  
Optimization Method ◽  
Stability Control ◽  
Body Motion ◽  
Whole Body ◽  
Human Beings ◽  
Foot Placement ◽  
Body Dynamics

Biped robots are similar to human beings and have broad application prospects in the fields of family service, disaster rescue and military affairs. However, simplified models and fixed center of mass (COM) used in previous research ignore the large-scale stability control ability implied by whole-body motion. The present paper proposed a two-level controller based on a simplified model and whole-body dynamics. In high level, a model predictive control (MPC) controller is implemented to improve zero moment point (ZMP) control performance. In low level, a quadratic programming optimization method is adopted to realize trajectory tracking and stabilization with friction and joint constraints. The simulation shows that a 12-degree-of-freedom force-controlled biped robot model, adopting the method proposed in this paper, can recover from a 40 Nm disturbance when walking at 1.44 km/h without adjusting the foot placement, and can walk on an unknown 4 cm high stairs and a rotating slope with a maximum inclination of 10°. The method is also adopted to realize fast walking up to 6 km/h.

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