Stabilized Walking of Humanoid NAO using Enhanced Spring-Loaded Inverted Pendulum Model on Uneven Terrain

2022 ◽  
Vol 13 (1) ◽  
pp. 0-0
Keyword(s):  
Path Length ◽  
Inverted Pendulum ◽  
Center Of Mass ◽  
Humanoid Robots ◽  
Slip Model ◽  
Turning Angle ◽  
Uneven Terrain ◽  
Inverted Pendulum Model ◽  
Pendulum Model ◽  
Spring Loaded Inverted Pendulum

In the coming decades, humanoid robots will play a rising role in society. The present article discusses their walking control and obstacle avoidance on uneven terrain using enhanced spring-loaded inverted pendulum model (ESLIP). The SLIP model is enhanced by tuning it with an adaptive particle swarm optimization (APSO) approach. It helps the humanoid robot to reach closer to the obstacles in order to optimize the turning angle to optimize the path length. The desired trajectory, along with the sensory data, is provided to the SLIP model, which creates compatible COM (center of mass) dynamics for stable walking. This output is fed to APSO as input, which adjusts the placement of the foot during interaction with uneven surfaces and obstacles. It provides an optimum turning angle for shunning the obstacles and ensures the shortest path length. Simulation has been carried out in a 3D simulator based on the proposed controller and SLIP controller in uneven terrain.

scholarly journals Turning Gait Planning Method for Humanoid Robots

2018 ◽  
Vol 8 (8) ◽  
pp. 1257 ◽  
Author(s):  
Tianqi Yang ◽  
Weimin Zhang ◽  
Xuechao Chen ◽  
Zhangguo Yu ◽  
Libo Meng ◽  
...  
Keyword(s):  
Inverted Pendulum ◽  
Center Of Mass ◽  
Translational Motion ◽  
Humanoid Robots ◽  
Inverted Pendulum Model ◽  
Straight Line ◽  
Pendulum Model ◽  
The Stability ◽  
And Control ◽  
Present Simulation

The most important feature of this paper is to transform the complex motion of robot turning into a simple translational motion, thus simplifying the dynamic model. Compared with the method that generates a center of mass (COM) trajectory directly by the inverted pendulum model, this method is more precise. The non-inertial reference is introduced in the turning walk. This method can translate the turning walk into a straight-line walk when the inertial forces act on the robot. The dynamics of the robot model, called linear inverted pendulum (LIP), are changed and improved dynamics are derived to make them apply to the turning walk model. Then, we expend the new LIP model and control the zero moment point (ZMP) to guarantee the stability of the unstable parts of this model in order to generate a stable COM trajectory. We present simulation results for the improved LIP dynamics and verify the stability of the robot turning.

BIPED HOPPING CONTROL BAzSED ON SPRING LOADED INVERTED PENDULUM MODEL

2010 ◽  
Vol 07 (02) ◽  
pp. 263-280 ◽  
Author(s):  
SEYED HOSSEIN TAMADDONI ◽  
FARID JAFARI ◽  
ALI MEGHDARI ◽  
SAEED SOHRABPOUR
Keyword(s):  
Control Strategy ◽  
Inverted Pendulum ◽  
Hybrid Control ◽  
Sagittal Plane ◽  
Center Of Mass ◽  
Slip Model ◽  
Inverted Pendulum Model ◽  
Wide Range ◽  
Spring Loaded Inverted Pendulum ◽  
Mass Spring

Human running can be stabilized in a wide range of speeds by automatically adjusting muscular properties of leg and torso. It is known that fast locomotion dynamics can be approximated by a spring loaded inverted pendulum (SLIP) system, in which leg is replaced by a single spring connecting body mass to ground. Taking advantage of the inherent stability of SLIP model, a hybrid control strategy is developed that guarantees a stable biped locomotion in sagittal plane. In the presented approach, nonlinear control methods are applied to synchronize the biped dynamics and the spring-mass dynamics. As the biped center of mass follows the mass of the mass-spring model, the whole biped performs a stable locomotion corresponding to SLIP model. Simulations are done to obtain a repeatable hopping for a three-link underactuated biped model. Results show that periodic hopping gaits can be stabilized, and the presented control strategy provides feasible gait trajectories for stance and swing phases.

Dynamic and Reactive Walking for Humanoid Robots Based on Foot Placement Control

2016 ◽  
Vol 13 (02) ◽  
pp. 1550041 ◽  
Author(s):  
Juan Alejandro Castano ◽  
Zhibin Li ◽  
Chengxu Zhou ◽  
Nikos Tsagarakis ◽  
Darwin Caldwell
Keyword(s):  
Center Of Mass ◽  
Humanoid Robots ◽  
Gait Pattern ◽  
Gait Patterns ◽  
Foot Placement ◽  
Inverted Pendulum Model ◽  
Gait Parameters ◽  
Pendulum Model ◽  
Single Mass ◽  
Walking Velocity

This paper presents a novel online walking control that replans the gait pattern based on our proposed foot placement control using the actual center of mass (COM) state feedback. The analytic solution of foot placement is formulated based on the linear inverted pendulum model (LIPM) to recover the walking velocity and to reject external disturbances. The foot placement control predicts where and when to place the foothold in order to modulate the gait given the desired gait parameters. The zero moment point (ZMP) references and foot trajectories are replanned online according to the updated foothold prediction. Hence, only desired gait parameters are required instead of predefined or fixed gait patterns. Given the new ZMP references, the extended prediction self-adaptive control (EPSAC) approach to model predictive control (MPC) is used to minimize the ZMP response errors considering the acceleration constraints. Furthermore, to ensure smooth gait transitions, the conditions for the gait initiation and termination are also presented. The effectiveness of the presented gait control is validated by extensive disturbance rejection studies ranging from single mass simulation to a full body humanoid robot COMAN in a physics based simulator. The versatility is demonstrated by the control of reactive gaits as well as reactive stepping from standing posture. We present the data of the applied disturbances, the prediction of sagittal/lateral foot placements, the replanning of the foot/ZMP trajectories, and the COM responses.

Design and optimization of an elastic linkage quadruped robot based on workspace and tracking error

2018 ◽  
Vol 232 (22) ◽  
pp. 4152-4166 ◽  
Author(s):  
Haoyu Ren ◽  
Qimin Li ◽  
Bing Liu ◽  
Zhenhuan Dou
Keyword(s):  
Inverted Pendulum ◽  
Tracking Error ◽  
Design Procedure ◽  
Design Parameters ◽  
Linkage Mechanism ◽  
Inverted Pendulum Model ◽  
Pendulum Model ◽  
Extreme Load ◽  
Cable Drive ◽  
Spring Loaded Inverted Pendulum

High acceleration and extreme load are frequently appeared on high-speed locomotion of legged robot’s legs, imposing a challenging trade-off between weight and torque in leg design. This paper proposes a new design paradigm based on cable-drive and elastic linkage to solve the problem. The details of the design procedure are given, including the construction of the single leg. With the optimum design of the linkage mechanism, a combined index of the workspace and tracking error are used as object function, and taking geometrical design parameters of the linkage as optimization parameters. Based on the target workspace and the spring-loaded inverted pendulum model, the best foot trajectory in obstacle climbing and trotting gait are analyzed and illustrated. This paper built linkage cable-drive spring robot based on the legged module integration. Simulations and experiments indicate that linkage cable-drive spring robot performs stable trotting with control of the spring-loaded inverted pendulum model. Linkage cable-drive spring robot prototype experiments results are provided to verify the validity of the new method.

Towards Robustly Stable Musculo-Skeletal Simulation of Human Gait: Merging Lumped and Component-Based Modeling Approaches

2012 ◽  
Author(s):  
Justin Seipel
Keyword(s):  
Inverted Pendulum ◽  
Dynamic Models ◽  
Sagittal Plane ◽  
Center Of Mass ◽  
Human Model ◽  
Whole Body ◽  
Human Gait ◽  
Slip Model ◽  
Spring Loaded Inverted Pendulum ◽  
Low Dimensional

The objective of work presented in this paper is to increase the center-of-mass stability of human walking and running in musculo-skeletal simulation. The approach taken is to approximate the whole-body dynamics of the low-dimensional Spring-Loaded Inverted Pendulum (SLIP) model of locomotion in the OpenSim environment using existing OpenSim tools. To more directly relate low-dimensional dynamic models to human simulation, an existing OpenSim human model is first modified to more closely represent bilateral above-knee amputee locomotion with passive prostheses. To increase stability further beyond the energy-conserving SLIP model, an OpenSim model based upon the Clock-Torqued Spring-Loaded-Inverted-Pendulum (CT-SLIP) model of locomotion is also created. The result of this work is that a multi-body musculo-skeletal simulation in Open-Sim can approximate the whole-body sagittal-plane dynamics of the passive SLIP model. By adding a plugin controller to the OpenSim environment, the Clock-Torqued-SLIP dynamics can be approximated in OpenSim. To change between walking and running, only one parameter representing the preferred period of a stride is changed. The result is a robustly stable simulation of the center-of-mass locomotion for both walking and running that could serve as a first step toward increasingly anatomically accurate and robustly stable musculo-skeletal simulations.

A Spring-Mass Model of Locomotion With Full Asymptotic Stability

2011 ◽  
Author(s):  
Zhuohua Shen ◽  
Justin Seipel
Keyword(s):  
Mass Velocity ◽  
Inverted Pendulum ◽  
Center Of Mass ◽  
Legged Locomotion ◽  
Reduced Model ◽  
Asymptotically Stable ◽  
Slip Model ◽  
Mass Model ◽  
Improved Stability ◽  
Spring Loaded Inverted Pendulum

A reduced model of legged locomotion, called the Spring Loaded Inverted Pendulum (SLIP) has previously been developed to predict the dynamics of locomotion. However, due to energy conservation, the SLIP model can only be partially asymptotically stable in the center-of-mass velocity. The more recently developed Clock-Torqued Spring Loaded Inverted Pendulum (CT-SLIP) model is fully asymptotically stable, and has a significantly larger stability basin than SLIP, but requires more than twice as many parameters. To more completely explore the parameter space and understand the reason for improved stability, we develop and analyze a further reduced model called the Forced-Damped Spring Loaded Inverted Pendulum (FD-SLIP) model.

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