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.

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.

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.

Optimization-based gait planning and control for biped robots utilizing the optimal allowable ZMP variation region

2018 ◽  
Vol 45 (4) ◽  
pp. 469-480 ◽  
Author(s):  
Hongbo Zhu ◽  
Minzhou Luo ◽  
Jingzhao Li
Keyword(s):  
Energy Efficiency ◽  
Stability Margin ◽  
Biped Robot ◽  
Step Length ◽  
Geometric Constraints ◽  
Average Height ◽  
Biped Robots ◽  
Gait Planning ◽  
Content Type ◽  
Double Support

Purpose The purpose of this study is to present an optimization-based gait planning method for biped robots according to the conditions of terrain, which takes fully the relationship between walking stability margin and energy efficiency into account. Design/methodology/approach First, the authors newly designed a practical gait motion synthesis algorithm by using the optimal allowable zero moment point (ZMP) variation region (OAZR), which can generate different gait motions corresponding to different terrains based on the modifiability of ZMP in lateral (y-axis) direction. Second, an effective gait parameter optimization algorithm is performed to find the optimal set of key gait parameters (step length, duration time of gait cycle, average height of center of mass (CoM), amplitude of the vertical CoM motion and double support ratio), which maximizes either the walking stability margin or the energy efficiency with certain walking stability margin under practical constraints (mechanical constraints of all joint motors, geometric constraints, friction force limit and yawing moment limit) according to the conditions of terrain. Third, the necessary controllers for biped robots have been introduced briefly. Findings The experiment data and results are described and analyzed, showing that the proposed method was verified through simulations and implemented on a DRC-XT biped robot. Originality/value The main contribution is that the OAZR has been defined based on AZR, which could be used to plan and generate the various feasible gait motions to help a biped robot to adapt effectively to various terrains.

scholarly journals Multiphase Trajectory Generation for Planar Biped Robot Using Direct Collocation Method

2021 ◽  
Vol 2021 ◽  
pp. 1-14
Author(s):  
Yubin Liu ◽  
Shuai Heng ◽  
Xizhe Zang ◽  
Zhenkun Lin ◽  
Jie Zhao
Keyword(s):  
Energy Efficiency ◽  
Collocation Method ◽  
Biped Robot ◽  
Contact Forces ◽  
Two Phase ◽  
Double Support ◽  
Direct Collocation ◽  
Direct Collocation Method ◽  
The Stability ◽  
Support Phase

Stability and energy efficiency are the main focuses in the bipedal robot field. In this paper, we apply a multiphase gait, which is different from the widely used two-phase gait, to improve the stability at the moment, when a biped robot transfers from the double support phase to the single support phase. Then, we create dynamic equations with contact forces in each phase using Lagrangian formulation. Furthermore, the direct collocation method is utilized to generate the optimal trajectory toward both stability and energy efficiency. Finally, the comparison between multiphase gait and two-phase gait is performed with numerical simulations. The results prove that multiphase gait increases the stability margin in the cost of slightly decreasing energy efficiency. Besides, both gaits show a similar human-like characteristic in hip height variation during walking.

High-Efficient Biped Walking Based on Flat-Footed Passive Dynamic Walking with Mechanical Impedance at Ankles

2012 ◽  
Vol 24 (3) ◽  
pp. 498-506 ◽  
Author(s):  
Yuta Hanazawa ◽  
◽  
Masaki Yamakita
Keyword(s):  
Energy Efficient ◽  
Mechanical Impedance ◽  
Biped Robot ◽  
Dynamic Walking ◽  
Passive Dynamic Walking ◽  
Biped Robots ◽  
Biped Walking ◽  
Double Support ◽  
High Efficient ◽  
Support Phase

In this paper, we present novel biped walking based on flat-footed Passive Dynamic Walking (PDW) with mechanical impedance at the ankles. To realize biped robot achieving high-efficient walking, PDW has attracted attention. Recently, flat-footed passive dynamic walkers with mechanical impedance at the ankles have been proposed. We show that this passive walker achieves fast, energy-efficient walking using ankle springs and inerters. For this reason, we propose novel biped walking control that mimics PDW to realize biped robots achieving fast, energy-efficient walking on level ground. First, we design a flat-footed biped robot that achieves fast, energy-efficient PDW. To achieve walking based on PDW, the biped robot then takes advantage of a virtual gravitational field that is generated by actuators. The biped robot also pushes off with the foot in the double-support phase to restore energy. By walking simulation, we show that a flat-footed biped robot achieves fast, energy-efficient walking on level ground by the proposed method.

The Effect of the Toe on the Biped Robot

2013 ◽  
Vol 325-326 ◽  
pp. 1076-1082
Author(s):  
Seyed Mehdi Torklarki ◽  
Mohammad Danesh
Keyword(s):  
Reaction Force ◽  
Stability Margin ◽  
Biped Robot ◽  
Body Motion ◽  
Upper Body ◽  
Biped Robots ◽  
Double Support ◽  
The Stability ◽  
Single Support Phase ◽  
Support Phase

Evaluation of 9-DOF biped robots based on designated smooth and stable trajectories with two added toes is a challenging problem that is the focus of this paper. Simultaneously rotation of feet and toes is considered, which allows the robot to walk more efficiently and like a human being. A desired trajectory for the lower body is designed to increase the stability margin. This obtained by fitting proper polynomials at appropriate break points. Then, the upper body motion is planned based on the Zero Moment Point (ZMP) criterion to provide a stable motion for the biped robot. Next, dynamics equations are obtained for both single support phase (SSP) and double support phase (DSP). On the other hand, two biped robots, which one accompanied by toes, are also compared. Simulation results reveal that the biped robots with toes have better stability margin, less power consumption and more vertical reaction force.

scholarly journals Trajectory Planning of Flexible Walking for Biped Robots Using Linear Inverted Pendulum Model and Linear Pendulum Model

Sensors ◽  
2021 ◽  
Vol 21 (4) ◽  
pp. 1082
Author(s):  
Long Li ◽  
Zhongqu Xie ◽  
Xiang Luo ◽  
Juanjuan Li
Keyword(s):  
Trajectory Planning ◽  
Inverted Pendulum ◽  
Negative Impact ◽  
Center Of Mass ◽  
Biped Robot ◽  
Biped Robots ◽  
Double Support ◽  
Inverted Pendulum Model ◽  
Pendulum Model ◽  
Support Phase

Linear inverted pendulum model (LIPM) is an effective and widely used simplified model for biped robots. However, LIPM includes only the single support phase (SSP) and ignores the double support phase (DSP). In this situation, the acceleration of the center of mass (CoM) is discontinuous at the moment of leg exchange, leading to a negative impact on walking stability. If the DSP is added to the walking cycle, the acceleration of the CoM will be smoother and the walking stability of the biped will be improved. In this paper, a linear pendulum model (LPM) for the DSP is proposed, which is similar to LIPM for the SSP. LPM has similar characteristics to LIPM. The dynamic equation of LPM is also linear, and its analytical solution can be obtained. This study also proposes different trajectory-planning methods for different situations, such as periodic walking, adjusting walking speed, disturbed state recovery, and walking terrain-blind. These methods have less computation and can plan trajectory in real time. Simulation results verify the effectiveness of proposed methods and that the biped robot can walk stably and flexibly when combining LIPM and LPM.

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.

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.

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