3DZMP-based control of a humanoid robot with reaction forces at 3-dimensional contact points

Inomata, Kentaro; Uchimura, Yutaka

doi:10.1109/amc.2010.5464098

Cited by 7 publications

(7 citation statements)

References 9 publications

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“…Here, the ground and the impacting foot of the robot's leg are modelled as rigid bodies therefore, compliance is only modeled in the normal direction and the contact is assumed to be under the effect of a translational sliding (estimated using foothold's linear acceleration) and rotational drift (approximated using foothold's angular velocity). Thus, the impact angular velocities and linear accelerations are taken into consideration to model differential impulses in the tangential and normal directions through the coulomb friction law [53,54]. The compliance command to incorporate the effect of environmental dynamics is described in (6)…”

Section: Impact Controlmentioning

confidence: 99%

Motion Planning Using an Impact-Based Hybrid Control for Trajectory Generation in Adaptive Walking

Asif

Iqbal

2011

International Journal of Advanced Robotic Systems

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This paper aims to solve a major drawback of walking robots i.e. their inability to react to environmental disturbances while navigating in natural rough terrains. This problem is reduced here by suggesting the use of a hybrid force-position control based trajectory generation with the impact dynamics into consideration that compensates for the stability variations, thus helping the robot react stably in the face of environmental disturbances. As a consequence, the proposed impact-based hybrid control helps the robot achieve better and stable motion planning than conventional position-based control algorithms. Dynamic simulations and real world outdoor experiments performed on a six legged hexapod robot show a relevant improvement in the robot locomotion.

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Section: Impact Controlmentioning

confidence: 99%

Motion Planning Using an Impact-Based Hybrid Control for Trajectory Generation in Adaptive Walking

Asif

Iqbal

2011

International Journal of Advanced Robotic Systems

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“…Chestnutt et al [7] approached the problem of computing global navigation strategies for biped humanoids as the one involving an iterated discrete search over a set of valid foot placements. Kentaro Inomata et al [8] proposed 3D ZMP to tackle general situation.…”

Section: Introductionmentioning

confidence: 99%

Online immediate foot placement modification for humanoid robots by synthesis method

Cheng

Huang

Yan

2010

2010 IEEE International Conference on Robotics and Biomimetics

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The mobility of humanoid robots are restrained by many natural constraints. Due to the unstable property of humanoid robots, they are usually controlled by a preplanning stable COG (center of gravity) trajectory subject to a properly designed ZMP (zero moment point) using inverted pendulum model. Despite the advantage of stability, the method becomes tricky to modify the preplanning footsteps randomly. Therefore, we propose the immediate modification of foot placement by synthesis, which ensures a low computational cost, smooth synthesized and stable trajectory. With our proposed method, the robot can modify the next footstep location or immediately stop immediately, even just before the end of previous step; otherwise, it might need two steps ahead to prepare for this change. The mobility of humanoid robot is therefore enhanced by our proposed method in both sagittal and lateral directions.

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“…The first set of approaches, which we refer to as static techniques, are focused on planning the platform's motion while assuming that the forces at the end-effector are unalterable during planning. Static planning either accounts for this constant expected manipulation force in the dynamics of the platform [8], [9] or treats the new contact created by the manipulator as an additional point affecting the structure of the robot's support [10]- [12]. These static methods generally either result in motion plans which sacrifice dynamic feasibility or are unable to compute a feasible motion plan while satisfying the imposed constraints.…”

Section: Introductionmentioning

confidence: 99%

Generating Continuous Motion and Force Plans in Real-Time for Legged Mobile Manipulation

Ewen

Sleiman²,

Chen

et al. 2021

2021 IEEE International Conference on Robotics and Automation (ICRA)

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Manipulators can be added to legged robots, allowing them to interact with and change their environment. Legged mobile manipulation planners must consider how contact forces generated by these manipulators affect the system. Current planning strategies either treat these forces as immutable during planning or are unable to optimize over these contact forces while operating in real-time. This paper presents the Stability and Task Oriented Receding-Horizon Motion and Manipulation Autonomous Planner (STORMMAP) that is able to generate continuous plans for the robot's motion and manipulation force trajectories that ensure dynamic feasibility and stability of the platform, and incentivizes accomplishing manipulation and motion tasks specified by a user. A variety of simulated experiments on a quadruped with a manipulator mounted to its torso demonstrate the versatility of STOR-MMAP. In contrast to existing state of the art methods, the approach described in this paper generates continuous plans in under ten milliseconds, an order of magnitude faster than previous strategies.

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3DZMP-based control of a humanoid robot with reaction forces at 3-dimensional contact points

Cited by 7 publications

References 9 publications

Motion Planning Using an Impact-Based Hybrid Control for Trajectory Generation in Adaptive Walking

Motion Planning Using an Impact-Based Hybrid Control for Trajectory Generation in Adaptive Walking

Online immediate foot placement modification for humanoid robots by synthesis method

Generating Continuous Motion and Force Plans in Real-Time for Legged Mobile Manipulation

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