A walking pattern generator for biped robots on uneven terrains

Zheng, Yu; Manocha, Dinesh; Adiwahono, Albertus Hendrawan; Chew, Chee-Meng

doi:10.1109/iros.2010.5653079

Cited by 23 publications

(15 citation statements)

References 15 publications

Supporting

Mentioning

Contrasting

Unclassified

Order By: Relevance

“…Walking patterns have also been generated to allow for auxiliary zero moment point (ZMP) control using a preview controller [9], and to control the posture of the robot using an attitude measurement sensor and a center-of-pressure controller [10]. Moreover, approaches have been proposed to modify the landing timing and position of the swing leg using a ZMP criteria map [11] and to generate walking patterns using the contact wrench sum as a stability criterion [12]. In addition, an environment mode converted from the sensor information collected by the FSRs has been proposed to represent the contact state between the terrain and soles [13], and a foot mechanism to detect terrain height using an optical distance sensor has been developed [14].…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Dynamic Simulation of Modifiable Bipedal Walking on Uneven Terrain with Unknown Height

Hong¹,

Lee²

2016

Journal of Electrical Engineering and Technology

View full text Add to dashboard Cite

-To achieve bipedal walking in real human environments, a bipedal robot should be capable of modifiable walking both on uneven terrain with different heights and on flat terrain. In this paper, a novel walking pattern generator based on a 3-D linear inverted pendulum model (LIPM) is proposed to achieve this objective. By adopting a zero moment point (ZMP) variation scheme in real time, it is possible to change the center-of-mass (COM) position and the velocity of the 3-D LIPM throughout the single support phase. Consequently, the proposed method offers the ability to generate a modifiable pattern for walking on uneven terrain without the necessity for any extra footsteps to adjust the COM motion. In addition, a control strategy for bipedal walking on uneven terrain with unknown height is developed. The torques and ground reaction force are measured through forcesensing resisters (FSRs) on each foot and the foot of the robot is modeled as three virtual springdamper models for the disturbance compensation. The methods for generating the foot and vertical COM of 3-D LIPM trajectories are proposed to achieve modifiable bipedal walking on uneven terrain without any information regarding the height of the terrain. The effectiveness of the proposed method is confirmed through dynamic simulations.

show abstract

Section: Introductionmentioning

confidence: 99%

“…The foot trajectory of the swing leg is generated using (9), (10). If the sole of the swing leg contacts the terrain, the foot height is modified using (11), and the foot height for the next footstep is determined using (12). In the double support phase, the vertical COM trajectory is generated using (10).…”

mentioning

confidence: 99%

Dynamic Simulation of Modifiable Bipedal Walking on Uneven Terrain with Unknown Height

Hong¹,

Lee²

2016

Journal of Electrical Engineering and Technology

View full text Add to dashboard Cite

show abstract

“…In [7], this concept was applied to a humanoid robot to calculate a CWS for a humanoid robot based on foot contacts. This method applied a modified version of the GJK algorithm for the interior check.…”

Section: Humanoid State Estimationmentioning

confidence: 99%

“…These methods can also be applied to the robot itself, which was the major contribution of [6] and [7]. Much as a grasped object is stabilized if an arbitrary disturbance can be opposed, a multi-limbed robot can be considered to be stable if a disturbance wrench w d lies within the contact wrench space.…”

Section: Contact Wrench Sum Formulationmentioning

confidence: 99%

Contact wrench space stability estimation for humanoid robots

Ellenberg

2014

2014 IEEE International Conference on Technologies for Practical Robot Applications (TePRA)

View full text Add to dashboard Cite

To execute ladder climbing motions effectively, a humanoid robot requires a reliable estimate of stability. Traditional methods such as Zero Moment Point are not applicable to vertical climbing, and do not account for force limits imposed on end effectors. This paper implements a simple contact wrench space method using a linear combination of contact wrenches. Experiments in simulation showed ZMP equivalence on flat ground. Furthermore, the estimator was able to predict stability with four point contact on a vertical ladder. Finally, an extension of the presented method is proposed based on these findings to address the limitations of the linear combination.

show abstract

“…To this end, various approaches have been proposed for generating walking patterns on flat terrain [1][2][3][4][5]. In addition, several methods for generating walking patterns on uneven terrain have been studied in order to realize walking of humanoid robots in real human environments; these include methods that employ stability criteria such as the zero moment point (ZMP) [6,7] and contact wrench sum [8,9]. Moreover, attempts have been made to control the posture of a humanoid robot while it walks on uneven terrain using sensor systems [10][11][12][13].…”

Section: Introductionmentioning

confidence: 99%

Control Strategy for Modifiable Bipedal Walking on Unknown Uneven Terrain

Lee¹,

Chwa²,

Hong³

2016

Journal of Electrical Engineering and Technology

View full text Add to dashboard Cite

-Previous walking pattern generation methods could generate walking patterns that allow only straight walking on flat and uneven terrain. They were unable to generate modifiable walking patterns whereby the sagittal and lateral step lengths and walking direction can be changed at every footstep. This paper proposes a novel walking pattern generation method to realize modifiable walking of humanoid robots on unknown uneven terrain. The proposed method employs a walking pattern generator based on the 3-D linear inverted pendulum model (LIPM), which enables a humanoid robot to vary its walking patterns at every footstep. A control strategy for walking on unknown uneven terrain is proposed. Virtual spring-damper (VSD) models are used to compensate for the disturbances that occur between the robot and the terrain when the robot walks on uneven terrain with unknown height. In addition, methods for generating the foot and vertical center of mass (COM) of the 3-D LIPM trajectories are developed to realize stable walking on unknown uneven terrain. The proposed method is implemented on a small-sized humanoid robot platform, DARwIn-OP and its effectiveness is demonstrated experimentally.

show abstract

A walking pattern generator for biped robots on uneven terrains

Cited by 23 publications

References 15 publications

Dynamic Simulation of Modifiable Bipedal Walking on Uneven Terrain with Unknown Height

Dynamic Simulation of Modifiable Bipedal Walking on Uneven Terrain with Unknown Height

Contact wrench space stability estimation for humanoid robots

Control Strategy for Modifiable Bipedal Walking on Unknown Uneven Terrain

Contact Info

Product

Resources

About