Referential ZMP Trajectory for Minimizing Variation of COG Velocity in Single Support Phase of Biped Robot

2008 ◽  
Vol 128 (5) ◽  
pp. 661-668 ◽  
Author(s):  
Tomoya Sato ◽  
Kouhei Ohnishi
Keyword(s):  
Biped Robot ◽  
Single Support Phase ◽  
Support Phase

A force-resisting balance control strategy for a walking biped robot under an unknown, continuous force

Robotica ◽  
2014 ◽  
Vol 34 (7) ◽  
pp. 1495-1516
Author(s):  
Yeoun-Jae Kim ◽  
Joon-Yong Lee ◽  
Ju-Jang Lee
Keyword(s):  
External Force ◽  
Control Strategy ◽  
Balance Control ◽  
Biped Robot ◽  
Second Step ◽  
Double Support ◽  
Zero Moment ◽  
External Forces ◽  
Single Support Phase ◽  
Support Phase

SUMMARYIn this paper, we propose and examine a force-resisting balance control strategy for a walking biped robot under the application of a sudden unknown, continuous force. We assume that the external force is acting on the pelvis of a walking biped robot and that the external force in the z-direction is negligible compared to the external forces in the x- and y-directions. The main control strategy involves moving the zero moment point (ZMP) of the walking robot to the center of the robot's sole resisting the externally applied force. This strategy is divided into three steps. The first step is to detect an abnormal situation in which an unknown continuous force is applied by examining the position of the ZMP. The second step is to move the ZMP of the robot to the center of the sole resisting the external force. The third step is to have the biped robot convert from single support phase (SSP) to double support phase (DSP) for an increased force-resisting capability. Computer simulations and experiments of the proposed methods are performed to benchmark the suggested control strategy.

scholarly journals Optimal reference trajectories for walking and running of a biped robot

Robotica ◽  
2001 ◽  
Vol 19 (5) ◽  
pp. 557-569 ◽  
Author(s):  
C. Chevallereau ◽  
Y. Aoustin
Keyword(s):  
Biped Robot ◽  
Physical Parameters ◽  
Polynomial Functions ◽  
Minimal Energy ◽  
Double Support ◽  
Cyclic Motion ◽  
Under Construction ◽  
Single Support Phase ◽  
Reference Trajectories ◽  
Support Phase

The objective of this study is to obtain optimal cyclic gaits for a biped robot without actuated ankles. Two types of motion are studied: walking and running. For walking, the gait is composed uniquely of successive single support phases and instantaneous double support phases that are modelled by passive impact equations. The legs swap their roles from one single support phase to the next one. For running, the gait is composed of stance phases and flight phases. A passive impact with the ground exists at the end of flight. During each phase the evolution of m joints variables is assumed to be polynomial functions, m is the number of actuators. The evolution of the other variables is deduced from the dynamic model of the biped. The coefficients of the polynomial functions are chosen to optimise criteria and to insure cyclic motion of the biped. The chosen criteria are: maximal advance velocity, minimal torque, and minimal energy. Furthermore, the optimal gait is defined with respect to given performances of actuators: The torques and velocities at the output of the gear box are bounded. For this study, the physical parameters of a prototype, which is under construction, are used. Optimal walking and running are defined. The running is more efficient for high velocities than the walking with respect to the studied criteria.

Based on Biped Robot Walking in Horizontal Surface Research of Dynamic Simulation

2011 ◽  
Vol 301-303 ◽  
pp. 707-712
Author(s):  
Hong Bo Wang
Keyword(s):  
Dynamic Simulation ◽  
Gait Cycle ◽  
Sagittal Plane ◽  
Biped Robot ◽  
Biped Locomotion ◽  
Walking Motion ◽  
Impact Phase ◽  
Single Support Phase ◽  
The Impact ◽  
Support Phase

The purpose of this thesis is to develop a dynamic model of biped locomotion and implement a suitable controller for it . The locomotion aimed to be realized in this thesis is walking on a flat horizontal sueface in the sagittal plane. a planar five-link biped robot , which consists of a torso, two thighs and two shanks, with five degree of freedom is modeled. A gait cycle of the walking motion includes the single support phase(SSP), the impact phase and the support end exchange phase. The dynamic equation at SSP is derived by using the Lagrangian formulation and the impact equation is derivd by using the momention change caused by the nonconservative force during impact and the constraint imposed in the impact leg.

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