Torso pitch motion effects on walking gait for biped robots

2021 ◽  
pp. 1-11
Author(s):  
Long Li ◽  
Zhongqu Xie ◽  
Xiang Luo ◽  
Juanjuan Li ◽  
Yufeng He
Keyword(s):  
Energy Consumption ◽  
Biped Robot ◽  
Gait Pattern ◽  
Optimization Criterion ◽  
Pattern Generation ◽  
Biped Robots ◽  
Unit Distance ◽  
Pitch Motion ◽  
Walking Gait ◽  
Gait Parameters

Gait pattern generation has an important influence on the walking quality of biped robots. In most gait pattern generation method, it is usually assumed that the torso remains vertial during walking. It is very intuitive and simple. However, is the gait pattern of keeping the torso vertical the most efficient? This paper presents a gait pattern in which the torso has pitch motion during walking. We define the cyclic gait of a seven-link biped robot with multiple gait parameters. The gait parameters are determined by optimization. The optimization criterion is choosen to minimize the energy consumption per unit distance of the biped robot. In order to compare the energy consumption of the proposed gait pattern with the one of torso vertical gait pattern, we generate two sets of optimal gait with various walking step lengths and walking periods. The results show that the proposed gait pattern is more energy-efficiency than the torso vertical gait pattern.

scholarly journals Effects of Torso Pitch Motion on Energy Efficiency of Biped Robot Walking

2021 ◽  
Vol 11 (5) ◽  
pp. 2342
Author(s):  
Long Li ◽  
Zhongqu Xie ◽  
Xiang Luo ◽  
Juanjuan Li
Keyword(s):  
Energy Efficiency ◽  
Energy Consumption ◽  
Biped Robot ◽  
Gait Pattern ◽  
Pattern Generation ◽  
Biped Robots ◽  
Pitch Motion ◽  
Double Support ◽  
Gait Parameters ◽  
Support Phase

Gait pattern generation has an important influence on the walking quality of biped robots. In most gait pattern generation methods, it is usually assumed that the torso keeps vertical during walking. It is very intuitive and simple. However, it may not be the most efficient. In this paper, we propose a gait pattern with torso pitch motion (TPM) during walking. We also present a gait pattern with torso keeping vertical (TKV) to study the effects of TPM on energy efficiency of biped robots. We define the cyclic gait of a five-link biped robot with several gait parameters. The gait parameters are determined by optimization. The optimization criterion is chosen to minimize the energy consumption per unit distance of the biped robot. Under this criterion, the optimal gait performances of TPM and TKV are compared over different step lengths and different gait periods. It is observed that (1) TPM saves more than 12% energy on average compared with TKV, and the main factor of energy-saving in TPM is the reduction of energy consumption of the swing knee in the double support phase and (2) the overall trend of torso motion is leaning forward in double support phase and leaning backward in single support phase, and the amplitude of the torso pitch motion increases as gait period or step length increases.

scholarly journals Comparative stable walking gait optimization for small-sized biped robot using meta-heuristic optimization algorithms

2018 ◽  
Vol 40 (4) ◽  
pp. 407-424
Author(s):  
Tran Thien Huan ◽  
Ho Pham Huy Anh
Keyword(s):  
Humanoid Robot ◽  
Differential Evolution Algorithm ◽  
Biped Robot ◽  
The Novel ◽  
Biped Robots ◽  
Walking Gait ◽  
Gait Parameters ◽  
Lift Height ◽  
Evolution Algorithm ◽  
Gait Optimization

This paper proposes a new way to optimize the biped walking gait design for biped robots that permits stable and robust stepping with pre-set foot lifting magnitude. The new meta-heuristic CFO-Central Force Optimization algorithm is initiatively applied to optimize the biped gait parameters as to ensure to keep biped robot walking robustly and steadily. The efficiency of the proposed method is compared with the GA-Genetic Algorithm, PSO-Particle Swarm Optimization and Modified Differential Evolution algorithm (MDE). The simulated and experimental results carried on the prototype small-sized humanoid robot demonstrate that the novel meta-heuristic CFO algorithm offers an efficient and stable walking gait for biped robots with respect to a pre-set of foot-lift height value.

scholarly journals Online Biped Walking Pattern Generation with Contact Consistency

2015 ◽  
Vol 4 (1) ◽  
pp. 19
Author(s):  
Wenqi Hou ◽  
Jian Wang ◽  
Jianwen Wang ◽  
Hongxu Ma
Keyword(s):  
Biped Robot ◽  
Gait Pattern ◽  
Pattern Generation ◽  
Task Space ◽  
Biped Walking ◽  
Foot Placement ◽  
Walking Gait ◽  
Walking Pattern ◽  
Generating Method ◽  
Stable Periodic

In this paper, a novel online biped walking gait pattern generating method with contact consistency is proposed. Generally, it’s desirable that there is no foot-ground slipping during biped walking. By treating the hip of the biped robot as a linear inverted pendulum (LIP), a foot placement controller that takes the contact consistency into account is proposed to tracking the desired orbit energy. By selecting the hip’s horizontal locomotion as the parameter, the trajectories in task space for walking are planned. A task space controller without calculating the inversion of inertial matrix is presented. Simulation experiments are implemented on a virtual 5-link point foot biped robot. The results show the effectiveness of the walking pattern generating method which can realize a stable periodic gait cycle without slipping and falling even suffering a sudden disturbance.

Design of a Biped Robot With Torsion Springs at the Joints for Reduced Energy Consumption During Walk

2009 ◽  
Author(s):  
Santosh Pratap Singh ◽  
Ashish Dutta ◽  
Anupam Saxena
Keyword(s):  
Energy Consumption ◽  
Degrees Of Freedom ◽  
Equations Of Motion ◽  
Biped Robot ◽  
Single Step ◽  
Biped Robots ◽  
Gait Parameters ◽  
Reduction Of Energy Consumption ◽  
Torsion Springs ◽  
Spring Constants

Biped robots have multiple degrees of freedom for walking and hence they consume a lot of energy. In this paper it is proposed that adding torsion springs at the joints of an 8 DOF biped will lead to reduced energy consumption during walk. First the dynamic equations of motion of the biped robot are obtained incorporating the torsion springs at the joints. Using the dynamic model the total energy consumed during walk was evaluated for a single step. A Genetic Algorithm (GA) based algorithm was developed for finding the energy optimal trajectory during gait by comparing all the possible trajectories. It is first proved that addition of torsion springs at the joints lead to reduction of energy consumption as compared to a biped with no springs. All the gait parameters were then optimized to get the optimum values for the spring constants at each joint, reference angle of springs and length of each step. It is proved that using these optimal parameters the proposed biped robot consumes the least energy.

scholarly journals Constrained Quadratic Programming and Neurodynamics-Based Solver for Energy Optimization of Biped Walking Robots

2017 ◽  
Vol 2017 ◽  
pp. 1-15 ◽  
Author(s):  
Liyang Wang ◽  
Ming Chen ◽  
Xiangkui Jiang ◽  
Wei Wang
Keyword(s):  
Energy Consumption ◽  
Quadratic Programming ◽  
Energy Optimization ◽  
Biped Robot ◽  
High Energy ◽  
Walking Robots ◽  
Biped Robots ◽  
Biped Walking ◽  
Joint Torques ◽  
Force Moment

The application of biped robots is always trapped by their high energy consumption. This paper makes a contribution by optimizing the joint torques to decrease the energy consumption without changing the biped gaits. In this work, a constrained quadratic programming (QP) problem for energy optimization is formulated. A neurodynamics-based solver is presented to solve the QP problem. Differing from the existing literatures, the proposed neurodynamics-based energy optimization (NEO) strategy minimizes the energy consumption and guarantees the following three important constraints simultaneously: (i) the force-moment equilibrium equation of biped robots, (ii) frictions applied by each leg on the ground to hold the biped robot without slippage and tipping over, and (iii) physical limits of the motors. Simulations demonstrate that the proposed strategy is effective for energy-efficient biped walking.

Research and Design of the Biped Robot Gait Parameters

2012 ◽  
Vol 184-185 ◽  
pp. 1647-1650 ◽  
Author(s):  
Dan Tong Zhang
Keyword(s):  
Spline Interpolation ◽  
Industrial Robot ◽  
Biped Robot ◽  
Pattern Generation ◽  
Trajectory Design ◽  
Gait Parameters ◽  
Locomotion Pattern ◽  
Order Spline ◽  
Cartesian Coordinate ◽  
Research And Design

A simple and intuitive scheme about online locomotion pattern generation of dynamic walking for biped robot is presented to solve the complex joint trajectory design. A modeling which based on Cartesian Coordinate system and generalized coordinates was proposed. The gait planning of the biped robot was studied by using the method of 3rd order spline interpolation algorithm. The hip and impatient joint trajectory of the robot was emulated using Matlab. The result shows that the algorithm can make a continuously smooth moving trajectory of position and velocity, resulting in the moving trajectory of manipulation continuously smooth, which satisfies the industrial robot need.

A novel online gait optimization approach for biped robots with point-feet

2019 ◽  
Vol 25 ◽  
pp. 81
Author(s):  
Majid Anjidani ◽  
M.R. Jahed Motlagh ◽  
M. Fathy ◽  
M. Nili Ahmadabadi
Keyword(s):  
Learning Algorithm ◽  
Biped Robot ◽  
Optimization Method ◽  
Optimization Approach ◽  
Loop Model ◽  
Modeling Error ◽  
Environment Change ◽  
Biped Robots ◽  
Walking Gait ◽  
New Situation

Designing a stable walking gait for biped robots with point-feet is stated as a constrained nonlinear optimization problem which is normally solved by an offline numerical optimization method. On the result of an unknown modeling error or environment change, the designed gait may be ineffective and an online gait improvement is impossible after the optimization. In this paper, we apply Generalized Path Integral Stochastic Optimal Control to closed-loop model of planar biped robots with point-feet which leads to an online Reinforcement Learning algorithm to design the walking gait. We study the ability of the proposed method to adapt the controller of RABBIT, which is a planar biped robot with point-feet, for stable walking. The simulation results show that the method, starting a dynamically unstable initial gait, quickly compensates the modeling error and reaches to a walking with exponential stability and desired features in a new situation which was impossible by the past methods.

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