scholarly journals A Walking Pattern Generator Using a Spherical Inverted Pendulum with an Underfloor Pivot

2008 ◽  
Vol 74 (738) ◽  
pp. 380-385
Author(s):  
Koki KAMETA ◽  
Akinori SEKIGUCHI ◽  
Yuichi TSUMAKI ◽  
Yoshikazu KANAMIYA ◽  
D. N. NENCHEV
Keyword(s):  
Inverted Pendulum ◽  
Pattern Generator ◽  
Walking Pattern

Motion Planning for Humanoid Robots in Complex Environments Based on Stance Sequence and ZMP Reference

2012 ◽  
Vol 197 ◽  
pp. 415-422 ◽  
Author(s):  
Hong Liu ◽  
Qing Sun
Keyword(s):  
Humanoid Robot ◽  
Inverted Pendulum ◽  
Humanoid Robots ◽  
Pattern Generator ◽  
Complex Environments ◽  
Inverted Pendulum Model ◽  
Walking Pattern ◽  
Pendulum Model ◽  
Novel Method ◽  
Zero Moment

It is a great challenge to plan motion for humanoid robots in complex environments especially when the terrain is cluttered and discrete. To address this problem, a novel method is proposed in this paper by planning the gait according to the stance sequence and ZMP (Zero Moment Point) reference. It consists of two components: an adaptive footstep planner and a walking pattern generator. The adaptive footstep planner can generate the stance path according to the walking rules and adjust the orientation of body relevantly. As the footstep locations are determined, Linear Inverted Pendulum Model (LIPM) is used to generate the walking pattern with a moving ZMP reference. As demonstrated in experiments on the humanoid robot HOAP-2, our method can successfully plan footstep trajectories as well as generate the stable and natural-looking gait in typical cluttered and discrete environments.

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.

Intra- and intersegmental pathways active during walking in the locust

1983 ◽  
Vol 218 (1212) ◽  
pp. 287-308 ◽  
Keyword(s):  
Pattern Generator ◽  
Short Latency ◽  
Chordotonal Organ ◽  
Campaniform Sensilla ◽  
Flexor Muscle ◽  
Walking Pattern ◽  
Excitatory Pathways ◽  
Motor Information ◽  
Antagonist Group ◽  
Stimulation Of

Electrical stimulation of femoral chordotonal organs, trochanteral campaniform sensilla, trochanteral hairplates and tibial muscles was used to reveal neuronal pathways active in the standing and walking locust. Responses evoked by campaniform sensilla stimulation were also recorded intracellularly from flexor motoneurons in fixed animals. The trochanteral campaniform sensilla have a direct short-latency connection to tibial extensor motoneurons and more labile, longer-latency, excitatory and inhibitory connections to the tibial flexors of the same leg. Trains of stimuli to the trochanteral campaniform sensilla initiated an early swing only if the stimulation was timed to occur during late stance. The importance of this type of load afference in step-timing was demonstrated by amputating the mesothoracic leg: the stump oscillated at a higher than normal frequency. Addition of a prosthetic leg restored normal stepping. Stimulation of the femoral chordotonal organ revealed short latency, excitatory pathways to both extensor and flexor motoneurons of the same leg. Trains of stimuli to the organ initiated early swing of this leg if applied late in stance. Stimulation of either the flexor or the extensor muscle evoked a response in the antagonist group of the same leg which was abolished by amputation distal to the muscles. The flexor-evoked response functioned only in the presence of load afference. The same was found for the pathway to the walking-pattern generator activated by stimulating the flexor muscle. Stimulation of the posterior trochanteral hairplates often evoked a swing but the latency could be several hundred milliseconds. Deafferentation showed that sensory input is critical for interganglionic coordination. There are labile polysynaptic excitatory and inhibitory pathways from the trochanteral campaniform senilla to the flexor motoneurons of the adjacent leg. Trains could evoke an early swing in the adjacent leg if time to occur during late stance and if the homonymous leg itself was not in late stance. Stimulation of the chordotonal organ revealedfast-conducting stable pathways to the flexors and extensors of all the ipsilateral legs. Trains could induce an early swing if timed late in the stance of the adjacent leg and if the homonymous leg itself was not in late stance. Amputation of the adjacent leg had no effect on the direct evoked responses but swing could not be evoked unless a prosthesis was added. Load afference is necessary for the effectiveness of the intersegmental chordotonal input to the walkingpattern generator. Stimulation of the trochanteral hairplate revealed no intersegmental pathway. The intra- and intersegmental pathways revealed by our experiments are summarized diagrammatically. The results suggest that an important function of load afference is to modulate the flow of proprioceptive and motor information within the walking-pattern generator.

Walking Pattern Generator Using an Evolutionary Central Pattern Generator

2010 ◽  
pp. 65-72 ◽  
Author(s):  
Chang-Soo Park ◽  
Jeong-Ki Yoo ◽  
Young-Dae Hong ◽  
Ki-Baek Lee ◽  
Si-Jung Ryu ◽  
...  
Keyword(s):  
Central Pattern Generator ◽  
Pattern Generator ◽  
Walking Pattern

2A1-D15 Walking Pattern Generator for Humanoid Robots based on Human Walking Motion

2009 ◽  
Vol 2009 (0) ◽  
pp. _2A1-D15_1-_2A1-D15_4
Author(s):  
Kensuke HARADA ◽  
Kanako MIURA ◽  
Mitsuharu MORISAWA ◽  
Kenji KANEKO ◽  
Shin-ichiro NAKAOKA ◽  
...  
Keyword(s):  
Humanoid Robots ◽  
Pattern Generator ◽  
Human Walking ◽  
Walking Pattern ◽  
Walking Motion

Toward human-like walking pattern generator

2009 ◽  
Author(s):  
Kensuke Harada ◽  
Kanako Miura ◽  
Mitsuharu Morisawa ◽  
Kenji Kaneko ◽  
Shin'ichiro Nakaoka ◽  
...  
Keyword(s):  
Pattern Generator ◽  
Walking Pattern

scholarly journals Feasibility Check of an Assist System Through the Simulation of Bipedal Walking Using a CPG

2012 ◽  
Vol 24 (4) ◽  
pp. 657-665
Author(s):  
Tomohito Takubo ◽  
◽  
Yohei Fukano ◽  
Kenichi Ohara ◽  
Yasushi Mae ◽  
...  
Keyword(s):  
Pressure Sensor ◽  
Pattern Generator ◽  
Pattern Generation ◽  
Bipedal Walking ◽  
Human Walking ◽  
Trajectory Data ◽  
Body Dimension ◽  
Walking Pattern ◽  
Walking Pattern Generation ◽  
Mobile Base

A wearable mobile-base Walking Assist System (WAS) is simulated in this paper with the bipedal simulator we developed. The simulator employs a Central Pattern Generator (CPG) for bipedal walking pattern generation. The CPG-based walking pattern is one of the candidates for simulating human walking. Average Japanese body dimension data is applied to the bipedal model so that walking efficiency can be evaluated using the simulator. The effectiveness of the proposed simulator is confirmed by comparing real human walking and simulated walking in terms of the shape of the swing leg trajectory, data from the pressure sensor, and the feasibility of the prototype WAS. A prototype is developed and experimental results show the effectiveness of the bipedal simulator.

scholarly journals 1P1-B02 Simple Virtual Biped Model Based Walking Pattern Generator for a Planar Humanoid Robot

2008 ◽  
Vol 2008 (0) ◽  
pp. _1P1-B02_1-_1P1-B02_4
Author(s):  
Yuzuru HARADA ◽  
Kentaro MIYAHARA ◽  
Yoshikazu KANAMIYA ◽  
Daisuke SATO
Keyword(s):  
Humanoid Robot ◽  
Pattern Generator ◽  
Model Based ◽  
Walking Pattern
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