Kinodynamic Planning for Humanoid Robots Walking on Uneven Terrain

For the purpose of realizing the humanoid robot walking on uneven terrain, this paper proposes the kinodynamic gait planning method where both kinematics and dynamics of the system are considered. We can simultaneously plan both the foot-place and the whole-body motion taking the dynamical balance of the robot into consideration. As a dynamic constraint, we consider the differential equation of the robot's CoG. To solve this constraint, we use a walking pattern generator. We randomly sample the configuration space to search for the path connecting the start and the goal configurations. To show the effectiveness of the proposed methods, we show simulation and experimental results where the humanoid robot HRP-2 walks on rocky cliff with hands contacting the environment.

Download Full-text

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

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.197.415 ◽

2012 ◽

Vol 197 ◽

pp. 415-422 ◽

Cited By ~ 3

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.

Download Full-text

AN EVOLUTIONARY OPTIMIZED FOOTSTEP PLANNER FOR THE NAVIGATION OF HUMANOID ROBOTS

International Journal of Humanoid Robotics ◽

10.1142/s0219843612500053 ◽

2012 ◽

Vol 09 (01) ◽

pp. 1250005 ◽

Cited By ~ 10

Author(s):

YOUNG-DAE HONG ◽

JONG-HWAN KIM

Keyword(s):

Humanoid Robot ◽

Humanoid Robots ◽

Step Length ◽

Pattern Generator ◽

Elapsed Time ◽

Mechanical Constraints ◽

Walking Pattern ◽

Simulation And Experiment ◽

The Given ◽

Navigation Method

In this paper, an evolutionary optimized footstep planner for the navigation of humanoid robots is proposed. A footstep planner based on a univector field navigation method is proposed to generate a command state (CS) as an input to a modifiable walking pattern generator (MWPG) at each footstep. The MWPG generates associated trajectories of every leg joint to follow the given CS. In order to satisfy various objectives in the navigation, the univector fields are optimized by evolutionary programming. The three objectives, shortest elapsed time to get to a destination, safety without obstacle collision, and less energy consumption, are considered with mechanical constraints of a real humanoid robot, that is, the maximum step length and allowable yawing range of the feet. The effectiveness of the proposed algorithm is demonstrated through both computer simulation and experiment for a small-sized humanoid robot, HanSaRam-IX.

Download Full-text

Humanoid adaptive locomotion control through a bioinspired CPG-based controller

Robotica ◽

10.1017/s0263574721000795 ◽

2021 ◽

pp. 1-18

Author(s):

Chenpeng Yao ◽

Chengju Liu ◽

Li Xia ◽

Ming Liu ◽

Qijun Chen

Keyword(s):

Control Strategy ◽

Sensory Feedback ◽

Humanoid Robot ◽

A Priori ◽

Center Of Mass ◽

Humanoid Robots ◽

Pattern Generator ◽

Gait Planning ◽

Adaptive Gait ◽

Walking Adaptability

Abstract To achieve adaptive gait planning of humanoid robots, a hierarchical central pattern generator (H-CPG) model with a basic rhythmic signal generation layer and a pattern formation layer is proposed to modulate the center of mass (CoM) and the online foot trajectory. The entrainment property of the CPG is exploited for adaptive walking in the absence of a priori knowledge of walking conditions, and the sensory feedback is applied to modulate the generated trajectories online to improve walking adaptability and stability. The developed control strategy is verified using a humanoid robot on sloped terrain and shows good performance.

Download Full-text

Omni-Directional Walking Pattern Generator for Child-Sized Humanoid Robot, CHARLES2

International Journal of Humanoid Robotics ◽

10.1142/s0219843617500049 ◽

2017 ◽

Vol 14 (02) ◽

pp. 1750004 ◽

Cited By ~ 2

Author(s):

Kinam Lee ◽

Young-Jae Ryoo ◽

Kyung-Seok Byun ◽

Jaeyoung Choi

Keyword(s):

Humanoid Robot ◽

3D Model ◽

Three Dimensional ◽

Humanoid Robots ◽

Pattern Generator ◽

Walking Pattern ◽

Compact Size ◽

Minimum Height ◽

Zero Moment ◽

Parameter Values

In this paper, we propose an omni-directional walking pattern generator to make a child-sized humanoid robot walk in any direction. The proposed omni-directional walking pattern generator creates walking patterns for which zero moment point (ZMP) is located on the center of the supporting foot. For humanoid robots to adapt to human’s life and perform missions, it should be taller than the minimum height of a child. In this paper, we designed a humanoid robot which is similar to a child who is taller than 1[Formula: see text]m. We show the humanoid robot’s kinematics, design of a three-dimensional (3D) model, develop mechanisms and the hardware structures with servo-motors and compact-size PC. The developed humanoid robot “CHARLES2” stands for Cognitive Humanoid Autonomous Robot with Learning and Evolutionary System-Two. The inverse kinematics of its legs is described. The principle of the omni-directional walking pattern generator is discussed to create walking motions and overcome the robot’s mechanical deficiencies. We applied the proposed omni-directional walking pattern generator based on ZMP. Through experiments, we analyzed walking patterns according to the creation and changing parameter values. The results of the experiments are presented for the efficacy of our proposed walking engine.

Download Full-text

Whole body motion pattern generation for biped humanoid robots

2012 9th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI) ◽

10.1109/urai.2012.6462954 ◽

2012 ◽

Cited By ~ 3

Author(s):

Kouhei Yamada ◽

Hiroyuki Masuta ◽

Hun-ok Lim

Keyword(s):

Humanoid Robots ◽

Pattern Generation ◽

Body Motion ◽

Whole Body ◽

Motion Pattern

Download Full-text

Japanese Calligraphy Using Whole Body Motion of a Humanoid Robot

Intelligent Technologies and Engineering Systems - Lecture Notes in Electrical Engineering ◽

10.1007/978-1-4614-6747-2_42 ◽

2013 ◽

pp. 345-355 ◽

Cited By ~ 2

Author(s):

Seiji Sugiyama ◽

Ikuma Oshita ◽

Tsuneo Yoshikawa

Keyword(s):

Humanoid Robot ◽

Body Motion ◽

Whole Body

Download Full-text

Efficient Planning of Humanoid Motions by Modifying Constraints

Paladyn Journal of Behavioral Robotics ◽

10.2478/pjbr-2013-0002 ◽

2013 ◽

Vol 4 (1) ◽

Cited By ~ 2

Author(s):

ChangHyun Sung ◽

Takahiro Kagawa ◽

Yoji Uno

Keyword(s):

Motion Planning ◽

Sufficient Conditions ◽

Computation Time ◽

Humanoid Robots ◽

Body Motion ◽

Whole Body ◽

Planning Problem ◽

Point Representation ◽

Efficient Planning ◽

Unpredictable Environment

AbstractIn this paper, we propose an effective planning method for whole-body motions of humanoid robots under various conditions for achieving the task. In motion planning, various constraints such as range of motion have to be considered. Specifically, it is important to maintain balance in whole-body motion. In order to be useful in an unpredictable environment, rapid planning is an essential problem. In this research, via-point representation is used for assigning sufficient conditions to deal with various constraints in the movement. The position, posture and velocity of the robot are constrained as a state of a via-point. In our algorithm, the feasible motions are planned by modifying via-points. Furthermore, we formulate the motion planning problem as a simple iterative method with a Linear Programming (LP) problem for efficiency of the motion planning. We have applied the method to generate the kicking motion of a HOAP-3 humanoid robot. We confirmed that the robot can successfully score a goal with various courses corresponding to changing conditions of the location of an obstacle. The computation time was less than two seconds. These results indicate that the proposed algorithm can achieve efficient motion planning.

Download Full-text