GA Based Trajectory Generation for a 7-DOF Biped Robot by Considering Feet Rotation during Double Support Phase

2012 ◽  
Vol 463-464 ◽  
pp. 1252-1255 ◽  
Author(s):  
Farsam Farzadpour ◽  
Mohammad Danesh
Keyword(s):  
High Speed ◽  
Trajectory Generation ◽  
Biped Robot ◽  
Bipedal Walking ◽  
Double Support ◽  
Straight Line ◽  
Zero Moment ◽  
The Stability ◽  
Support Phase ◽  
Double Support Phase

This paper presents a trajectory generation approach for a 7-DOF biped robot on level ground. Simultaneously rotation of feet in double support phase is considered which leads to high-speed and more similar to human being walking. The zero moment point (ZMP) stability criterion is used to ensure the stability of the bipedal walking robot. Since ZMP trajectory in human walking does not stay fixed, it needs to be a straight line shaped forward ZMP trajectory to have a natural walk. A genetic algorithm based method is proposed to obtain key parameters in trajectory generation such that the ZMP follows a predefined trajectory while minimizing power consumption. Simulation results demonstrate the effectiveness of the proposed method.

Development of multi-phase dynamic equations for a seven-link biped robot with improved foot rotation in the double support phase

2014 ◽  
Vol 229 (1) ◽  
pp. 3-17 ◽  
Author(s):  
Farsam Farzadpour ◽  
Mohammad Danesh ◽  
Seyed M TorkLarki
Keyword(s):  
Power Consumption ◽  
Trajectory Generation ◽  
Biped Robot ◽  
Dynamic Equations ◽  
Total Power ◽  
Phase Dynamic ◽  
Double Support ◽  
Multi Phase ◽  
Support Phase ◽  
Double Support Phase

Gait generation plays a significant role in the quality of locomotion of legged robots. This paper presents the development of multi-phase dynamic equations and optimal trajectory generation for a seven-link planar-biped robot walking on the ground level with consideration of feet rotation in the double support phase. The main contribution of this paper is to increase the stability margin at the phase transition time for simultaneous feet rotation in double support phase by introducing a new style of feet rotation. First, the derivation of the dynamics equations, which is a challenging problem due to the existence of the holonomic constraints, is performed using the Lagrangian formulation. Then, an analytical solution to inverse kinematics is proposed to determine the angles of each joint. A multi-objective genetic algorithm-based optimization technique is proposed to obtain the key parameters in trajectory generation so that the zero moment point tracks a predefined stable trajectory and additionally minimizes the power consumption, which is subjected to actuators’ powers limitations. The effect of the hip height on the total power consumption is also investigated. The numerical simulations demonstrate the effectiveness of the proposed method.

scholarly journals CYCLOIDAL GAIT WITH DOUBLE SUPPORT PHASE FOR THE NAO HUMANOID ROBOT

2019 ◽  
Vol 6 ◽  
pp. 83-94
Author(s):  
Jesus E. Fierro P. ◽  
J. Alfonso Pamanes G. ◽  
Victor De-Leon-Gomez
Keyword(s):  
Humanoid Robot ◽  
Experimental Tests ◽  
Zero Moment Point ◽  
Double Support ◽  
Revolute Joints ◽  
Zero Moment ◽  
The Stability ◽  
Reduced Mobility ◽  
Support Phase ◽  
Double Support Phase

The commercial Nao humanoid robot has 11 DOF in legs. Even if these legs include 12 revolute joints, only 11 actuators are employed to control the walking of the robot. Under such conditions, the mobility of the pelvis and that of the oscillating foot are mutually constrained at each step. Besides, the original gait provided by the manufacturer company of the Nao employs only single support phases during the walking. Because of both issues, the reduced mobility in legs and the use of only single support phases, the stability of the walking is affected. To contribute to improving such stability, in this paper an approach is proposed that incorporates a double support phase and a gait based on cycloidal time functions for motions of the pelvis and those of the oscillating foot. To assess the stability of the walking an index is applied, which is based on the notion of zero-moment point (ZMP) of the static foot at each step. Results of experimental tests show that the proposed gait enhances the stability of the robot during the walking.

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.

CONTROL OF A COMPLIANT HUMANOID ROBOT IN DOUBLE SUPPORT PHASE: A GEOMETRIC APPROACH

2012 ◽  
Vol 09 (01) ◽  
pp. 1250004 ◽  
Author(s):  
GUSTAVO MEDRANO CERDA ◽  
HOUMAN DALLALI ◽  
MARTIN BROWN
Keyword(s):  
Energy Efficiency ◽  
Degrees Of Freedom ◽  
Geometric Approach ◽  
Research Problem ◽  
Bipedal Walking ◽  
Constrained Motion ◽  
Double Support ◽  
Compliant Actuators ◽  
Support Phase ◽  
Double Support Phase

Enhancing energy efficiency of bipedal walking is an important research problem that has been approached by design of recently developed compliant bipedal robots such as CoMan. While compliance leads to energy efficiency, it also complicates the walking control system due to further under-actuated degrees of freedom (DoF) associated with the compliant actuators. This problem becomes more challenging as the constrained motion of the robot in double support is considered. In this paper this problem is approached from a multi-variable geometric control aspect to systematically account for the compliant actuators dynamics and constrained motion of the robot in double support phase using a detailed electro-mechanical model of CoMan. It is shown that the formulation of constraint subspace is non-trivial in the case of non-rigid robots. A step-wise numerical algorithm is provided and the effectiveness of the proposed method is illustrated via simulation, using a ten DoF model of CoMan.

DYNAMIC BIPEDAL WALKING WITH DOUBLE SUPPORT PHASE

2015 ◽  
Author(s):  
A. SAFONOV ◽  
M. SHYSH ◽  
A. TELESH ◽  
U. SCHMUCKER
Keyword(s):  
Bipedal Walking ◽  
Double Support ◽  
Support Phase ◽  
Double Support Phase
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