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

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.

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.

FEASIBILITY STUDY OF USING TELESCOPIC INVERTED PENDULUM MODEL TO REPRESENT A THREE LINK SYSTEM FOR SIT TO STAND MOTION

2015 ◽  
Vol 77 (20) ◽  
Author(s):  
Muhammad Fahmi Miskon ◽  
Mohd Zaki Ghazali ◽  
Mohd Bazli Bahar ◽  
Chew Xiao Lin ◽  
Fariz Ali
Keyword(s):  
Humanoid Robot ◽  
Inverted Pendulum ◽  
Sagittal Plane ◽  
Inverse Kinematic ◽  
Humanoid Robotics ◽  
Joint Torques ◽  
Inverted Pendulum Model ◽  
Sit To Stand ◽  
Pendulum Model ◽  
Link Model

Sit to stand (STS) is a very challenging motion for any humanoid robotic system. In humanoid robotics field, the STS motion on the sagittal plane can be predicted using three-link robot inverse kinematic and dynamic model. However, a three-link model is complicated and requires high computational resource to compute. Hence, in this paper a much simpler model namely telescopic inverted pendulum is proposed. The objective of this project is to model and validate sit to stand motion of humanoid robot using telescopic inverted pendulum model. In order to validate the model, simulated joint torques using both three-link and TIPS model are compared using MATLAB software. Result shows that there is a linear relationship between Telescopic Inverted Pendulum with the 3 Link model thus, it is feasible to use TIPS to represent STS motion of a three-link multi-segment robot.

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