scholarly journals Stretch Walking Pattern Generation for a Biped Humanoid Robot

2004 ◽  
Vol 70 (700) ◽  
pp. 3509-3515 ◽  
Author(s):  
Yu OGURA ◽  
Hun-ok LIM ◽  
Atsuo TAKANISHI
Keyword(s):  
Humanoid Robot ◽  
Pattern Generation ◽  
Walking Pattern ◽  
Walking Pattern Generation

scholarly journals Bipedal walking pattern generation and control for humanoid robot with bivariate stability margin optimization

2018 ◽  
Vol 10 (9) ◽  
pp. 168781401880088
Author(s):  
Liang Yang ◽  
Zhi Liu ◽  
Yong Chen
Keyword(s):  
Neural Networks ◽  
Vector Function ◽  
Random Vector ◽  
Humanoid Robot ◽  
Stability Margin ◽  
Pattern Generation ◽  
Bipedal Walking ◽  
Walking Pattern ◽  
Control Scheme ◽  
Walking Pattern Generation

This article concentrates on the problem of walking pattern generation and online control for humanoid robot. However, it is challenging and thus still remains open so far in the field of bipedal locomotion control. In this article, we solve this problem by proposing a bivariate-stability-margin-based control scheme, in which a random vector function-link neural networks mechanism is additionally contained. By utilizing opposition-based learning algorithm to generate walking patterns and designing random vector function-link neural networks for compensating the combination of zero-moment point error and modeling error, the new walking controller exhibits good performance. Moreover, a bivariate-stability-margin-based fuzzy logic system is proposed to assign a weight to each training sample according to locomotion stability. With these results, a walking control system is successfully established and experiments validate the proposed control scheme.

A performance comparison between closed form and numerical optimization solutions for humanoid robot walking pattern generation

2021 ◽  
Vol 18 (4) ◽  
pp. 172988142110297
Author(s):  
Samer A Mohamed ◽  
Shady A Maged ◽  
Mohammed I Awad
Keyword(s):  
Power Consumption ◽  
Closed Form ◽  
Numerical Optimization ◽  
Humanoid Robot ◽  
Closed Form Solution ◽  
Computational Effort ◽  
Form Solution ◽  
Pattern Generation ◽  
Walking Pattern ◽  
Walking Pattern Generation

This article presents the modeling process of the lower part of a humanoid biped robot in terms of kinematic/dynamic states and the creation of a full dynamic simulation environment for a walking robot using MATLAB/Simulink. This article presents two different approaches for offline walking pattern generation: one relying on a closed-form solution of the linear inverted pendulum model (LIPM) mathematical model and another that considers numerical optimization as means of desired output trajectory following for a cart table state-space model. This article then investigates the possibility of introducing solution-dependent modifications to both approaches that could increase the reliability of basic walking pattern generation models in terms of smooth single support–double support phase transitioning and power consumption optimization. The algorithms were coded into offline walking pattern generators for NAO humanoid robot as a valid example and the two approaches were compared against each other in terms of stability, power consumption, and computational effort as well as against their basic unmodified counterparts.

scholarly journals Trajectory Planning and Walking Pattern Generation of Humanoid Robot Motion

2014 ◽  
Vol 4 (2) ◽  
pp. 135
Author(s):  
Saeed Abdolshah ◽  
Majid Abdolshah ◽  
Sai Hong Tang
Keyword(s):  
Inverse Kinematics ◽  
Humanoid Robot ◽  
Human Motion ◽  
Pattern Generation ◽  
Robot Motion ◽  
Simulation Environment ◽  
Walking Pattern ◽  
Walking Pattern Generation ◽  
Zero Moment ◽  
Geometrical Relationships

Walking trajectory generation for a humanoid robot is a challenging control  issue. In this paper, a walking cycle has been recognized considering human motion, and nine simple steps were distinguished in a full step of walking which form motion trajectory, and generates a simplified ZMP motion formulation. This system was used in humanoid robot simulation motion and is achievable easily in walking steps of robot. A minimum DOFs humanoid robot has been considered and geometrical relationships between the robot links were presented by the Denavit-Hartenberg method. The inverse kinematics equations have been solved regarding to extracted ZMP trajectory formula, and constraints in different steps. As a result; angular velocity, acceleration and power of motors were obtained using the relationships and Jacobin. At each step, extracted data were applied on simulated robot in Matlab, and Visual Nastran software. Zero moment point trajectory was evaluated in simulation environment.

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