An essential model for generating walking motions for humanoid robots

De-León-Gómez, Víctor; Luo, Qiuyue; Kalouguine, Anne; Pamanes, J. Alfonso; Aoustin, Yannick; Chevallereau, Christine

doi:10.1016/j.robot.2018.11.015

Cited by 13 publications

(15 citation statements)

References 29 publications

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“…In addition, we want to experimentally compare energy expenditure for innovative techniques for the generation of trajectories in biped robots such as the divergent component of motion 49 and the essential model. 50…”

Section: Future Workmentioning

confidence: 99%

An experimental energy consumption comparison between trajectories generated by using the cart-table model and an optimization approach for the Bioloid robot

Tacué

Rodas

Bravo

2020

International Journal of Advanced Robotic Systems

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The aim of this article is to present a statistical comparison of the electric energy expenditure between two techniques for the generation of gait patterns in biped robots. The first one is to minimize the sum of the squared torques applied to the joints of the robot, and the second one is based on the cart-table model. For the experiments, we measured the energy delivered by the battery of the robot to the servomotors. We applied the two aforementioned methods for three velocities (0.5, 1.0, and 1.3 m/min). Additionally, each combination of method and velocity was performed by the robot 10 times. The energy expenditure for each method was compared by applying the Wilcoxon test. In all comparisons, the value of p was lower than 0.004, indicating that the differences were statistically significant. The optimization approach leads to a reduction in energy expenditure that ranged from 9.16 % to 13.35 %. The conclusion is that all the effort required to implement an approach that requires a complete dynamic model of the robot allows a significant reduction in energy consumption.

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Section: Future Workmentioning

confidence: 99%

An experimental energy consumption comparison between trajectories generated by using the cart-table model and an optimization approach for the Bioloid robot

Tacué

Rodas

Bravo

2020

International Journal of Advanced Robotic Systems

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“…To solve this problem, we need to impose the ZMP trajectory instead of the CoM by using the Essential model first introduced in [5].…”

Section: Human Trajectory and Humanoid Robotmentioning

confidence: 99%

“…The purpose of this work is to design a periodic walking motion with single support (SS) and double support (DS) phases, which is based on the Essential model [5] for Romeo -a humanoid robot with n = 31 generalized coordinates. The trajectory of the ZMP is imposed, the horizontal position of the CoM is free to adapt to the ZMP evolution.…”

Section: Introductionmentioning

confidence: 99%

Periodic Walking Motion of a Humanoid Robot Based on Human Data

Kalouguine

Chevallereau

Dalibard

et al. 2020

New Trends in Mechanism and Machine Science

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Human walking has been intensely studied, but it is di cult to reproduce on humanoid robots that maintain awkward movements. Three main di culties exist. (i) Di↵erent joint kinematics and size between humans and robots. (ii) A rolling motion of the foot which is often impossible to execute with humanoid robots that walk with their feet flat. (iii) A di↵erence in the dynamic model of a robot compared to a human that makes a copy of a human movement lead to unstable walking. In order to take into account the first two di culties, the specifications for reproducing human movements are adjusted. To ensure stability, a previously developed dynamic model called Essential Model is used. The zero moment point (ZMP) is imposed, and the horizontal evolution of the centre of mass (CoM) is computed to satisfy the ZMP.

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“…are calculated by a given initial guess and matlab function f solve R with Eq. (22). As this optimization technique is applied for normalized parameters, the corresponding periodic steps for any step length and step width can be deduced.…”

Section: Periodic Gait Of Vlipmentioning

confidence: 99%

Walking Stability of a Variable Length Inverted Pendulum Controlled with Virtual Constraints

Luo

Chevallereau

Aoustin

2019

Int. J. Human. Robot.

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Bipedal walking is a complex phenomenon that is not fully understood. Simplified models make it easier to highlight the important features. Here, the variable length inverted pendulum (VLIP) model is used, which has the particularity of taking into account the vertical oscillations of the center of mass (CoM). When the desired walking gait is defined as virtual constraints, i.e., as functions of a phasing variable and not on time, for the evolution of the swing foot and the vertical oscillation of the CoM, the walk will asymptotically converge to the periodic motion under disturbance with proper choice of the virtual constraints, thus a self-stabilization is obtained. It is shown that the vertical CoM oscillation, positions of the swing foot and the choice of the switching condition play crucial roles in stability. Moreover, a PI controller of the CoM velocity along the sagittal axis is also proposed such that the walking speed of the robot can converge to another periodic motion with a different walking speed. In this way, a natural walking gait is illustrated as well as the possibility of velocity adaptation as observed in human walking.

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An essential model for generating walking motions for humanoid robots

Abstract: The modeling of humanoid robots with many degrees-of-freedom (DoF) can be done via the complete dynamic model. However, the complexity of the model can hide the essential factor of the walking, i.e. the equilibrium of the robot.

Cited by 13 publications

References 29 publications

An experimental energy consumption comparison between trajectories generated by using the cart-table model and an optimization approach for the Bioloid robot

An experimental energy consumption comparison between trajectories generated by using the cart-table model and an optimization approach for the Bioloid robot

Periodic Walking Motion of a Humanoid Robot Based on Human Data

Walking Stability of a Variable Length Inverted Pendulum Controlled with Virtual Constraints

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