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

2012 ◽  
Vol 197 ◽  
pp. 415-422 ◽  
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.

Heel-Contact Toe-Off Walking Pattern Generator Based on the Linear Inverted Pendulum

2016 ◽  
Vol 13 (01) ◽  
pp. 1650002 ◽  
Author(s):  
Yukitoshi Minami Shiguematsu ◽  
Przemyslaw Kryczka ◽  
Kenji Hashimoto ◽  
Hun-Ok Lim ◽  
Atsuo Takanishi
Keyword(s):  
Simple Model ◽  
Humanoid Robot ◽  
Inverted Pendulum ◽  
Center Of Mass ◽  
Pattern Generator ◽  
Walking Pattern ◽  
Heel Contact ◽  
Zero Moment ◽  
Two Stages ◽  
Multibody Dynamics Model

We propose a novel heel-contact toe-off walking pattern generator for a biped humanoid robot. It is divided in two stages: a simple model stage where a Linear Inverted Pendulum (LIP) based heel-contact toe-off walking model based on the so-called functional rockers of the foot (heel, ankle and forefoot rockers) is used to calculate step positions and timings, and the Center of Mass (CoM) trajectory taking step lengths as inputs, and a multibody dynamics model stage, where the final pattern to implement on the humanoid robot is obtained from the output of the first simple model stage. The final pattern comprises the Zero Moment Point (ZMP) reference, the joint angle references and the end effector references. The generated patterns were implemented on our robotic platform, WABIAN-2R to evaluate the generated walking patterns.

Walking Engine Using ZMP Criterion and Feedback Control for Child-Sized Humanoid Robot

2016 ◽  
Vol 13 (04) ◽  
pp. 1650021 ◽  
Author(s):  
Young-Jae Ryoo
Keyword(s):  
Feedback Control ◽  
Humanoid Robot ◽  
Inverted Pendulum ◽  
Three Dimensional ◽  
Development Cost ◽  
Evolutionary System ◽  
Inverted Pendulum Model ◽  
Gyro Sensor ◽  
Pendulum Model ◽  
Zero Moment

In this paper, a walking engine that achieves dynamic stable walking using zero moment point (ZMP) criterion and feedback control from a gyro sensor is proposed. The ZMP criterion is used for the dynamic walking, and the feedback control from a gyro sensor is adopted for stabilization. The proposed walking engine consists of ZMP controller and the gait generator. The three-dimensional linear inverted pendulum model (3D-LIPM) is adopted for a simplified model of the humanoid robot. The ZMP equations are derived based on the 3D-LIPM and are applied to the gait generator. The walking engine is tested on a child-sized, 21-degree-of-freedom (DOF) humanoid robot cognitive humanoid autonomous robot with learning and evolutionary system (CHARLES) which stands 110[Formula: see text]cm tall and weighs only 8[Formula: see text]kg. The design concept of CHARLES is low development cost, lightweight, and simple design, which all match well with the proposed walking engine. The results of the experiments present the efficacy of the proposed walking engine.

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

2017 ◽  
Vol 14 (02) ◽  
pp. 1750004 ◽  
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.

scholarly journals BALANCE MOTION PLANNING FOR HUMANOID ROBOT BASED ON 3D INVERTED PENDULUM MODEL

2022 ◽  
Vol 36 (06) ◽  
Author(s):  
DUONG MIEN KA ◽  
TRAN HUU TOAN
Keyword(s):  
Motion Planning ◽  
Dynamic Model ◽  
Humanoid Robot ◽  
Inverted Pendulum ◽  
Humanoid Robots ◽  
The Other ◽  
Three Dimension ◽  
Inverted Pendulum Model ◽  
Pendulum Model

Researches on humanoid robots are alway attractive to many researchers in robotics field. One  of considerable challenges of humanoid robots is to keep balance and stability of their movement. Because a humanoid robot moves by two legs, most of time of the step period of the humanoid robot is be in one leg touching on the floor and the other leg swinging forward. This posture is similar to a three dimension (3D) inverted pendulum model. This papers presents the dynamic model of a 3D inverted pendulum model and applies to balanced motion planning for a humanoid robot. The obtained results show that the robot is able to keep balance during its movements

Development of an Omnidirectional Walking Engine for Full-Sized Lightweight Humanoid Robots

2011 ◽  
Author(s):  
Seungmoon Song ◽  
Young-Jae Ryoo ◽  
Dennis W. Hong
Keyword(s):  
Inertial Measurement Unit ◽  
Humanoid Robot ◽  
Humanoid Robots ◽  
Measurement Unit ◽  
Feedback Controllers ◽  
Inverted Pendulum Model ◽  
Pendulum Model ◽  
Zero Moment ◽  
The Stability ◽  
Indirect Reference

In this paper, we propose and demonstrate an omnidirectional walking engine that achieves stable walking using feedback from an inertial measurement unit (IMU). The 3D linear inverted pendulum model (3D-LIPM) is used as a simplified model of the robot, the zero moment point (ZMP) criterion is used as the stability criterion, and only the feedback from the IMU is utilized for stabilization. The proposed walking engine consists of two parts; the omnidirectional gait generator, and the stability controller. ZMP equations, derived based on the 3D-LIPM, are used in the omnidirectional gait generator. The solutions of the differential equations are directly used which reduces the computation cost compare to other existing methods. Two kinds of feedback controllers are implemented for the stability controller; one is the indirect reference ZMP controller, and the other is the indirect joint controller. The walking engine is tested on a lightweight, full-sized, 21-degree-of-freedom (DOF) humanoid robot CHARLI-L (Cognitive Humanoid Autonomous Robot with Learning Intelligence, version Lightweight) which stands 141 cm tall and weighs only 12.7 kg. The design goals of CHARLI-L are low development cost, lightweight, and simple design, which all match well with the proposed walking engine. The results of the experiments present the efficacy of our approach.

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.

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.

Sign in / Sign up

Export Citation Format

Share Document