Asymmetric trajectory generation and impedance control for running of biped robots

Kwon, Ohung; Park, Jong Hyeon

doi:10.1007/s10514-008-9106-7

Cited by 20 publications

(8 citation statements)

References 37 publications

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“…where is the pelvis modification in the vertical direction. By adding this value to the preplanned trajectory of the pelvis, the modified pelvis trajectory is obtained: (15) In this equation, specifies the modified pelvis trajectory. It should be noted that in the case of retard landing, it is not necessary to modify the swing foot trajectory in the sagittal direction.…”

Section: Retard Landing Of the Swing Footmentioning

confidence: 99%

“…Then, generated trajectories in the task space are projected into the joint space to yield desired joint trajectories, using inverse kinematics 12 . Finally, the low-level control system is responsible for tracking the obtained desired trajectories [13][14][15] .…”

Section: Introductionmentioning

confidence: 99%

“…12 Finally, the low-level control system is responsible for tracking the obtained desired trajectories. 13–15…”

Section: Introductionmentioning

confidence: 99%

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Online adaptation for humanoids walking on uncertain surfaces

Khadiv

Moosavian

Yousefi‐Koma

et al. 2017

Proceedings of the Institution of Mechanical Engineers, Part I:

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In this paper, an online adaptation algorithm for bipedal walking on uneven surfaces with height uncertainty is proposed. In order to generate walking patterns on flat terrains, the trajectories in the task space are planned to satisfy the dynamic balance and slippage avoidance constraints, and also to guarantee smooth landing of the swing foot. To ensure smooth landing of the swing foot on surfaces with height uncertainty, the preplanned trajectories in the task space should be adapted.The proposed adaptation algorithm consists of two stages. In the first stage, once the swing foot reaches its maximum height, the supervisory control is initiated until the touch is detected. After the detection, the trajectories in the task space are modified to guarantee smooth landing. In the second stage, this modification is preserved during the Double Support Phase (DSP), and released in the next Single Support Phase (SSP). Effectiveness of the proposed online adaptation algorithm is experimentally verified through realization of the walking patterns on the SURENA III humanoid robot, designed and fabricated at CAST. The walking is tested on a surface with various flat obstacles, where the swing foot is prone to either land on the ground soon or late.

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Section: Retard Landing Of the Swing Footmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Online adaptation for humanoids walking on uncertain surfaces

Khadiv

Moosavian

Yousefi‐Koma

et al. 2017

Proceedings of the Institution of Mechanical Engineers, Part I:

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show abstract

“…In this framework, the motion transitions play an important role in the motion planning of the robot, that is, switching between different motion primitives. Rather than switching directly between different motion primitives (ZMP is used in , whereas central pattern generator is used ), we utilize the motion transition as a ‘buffer’ to connect the fixed point of each motion primitive to ensure the stability of system while switching. One main advantage of the introduction of motion transitions is that the system can deal with big variation of the terrain with the guarantee of good stability.…”

Section: Motion Primitives and Transitionsmentioning

confidence: 99%

Human‐inspired motion primitives and transitions for bipedal robotic locomotion in diverse terrain

Zhao

Powell

Ames

2013

Optim Control Appl Methods

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SUMMARYIn this paper, a control design approach is presented, which uses human data in the development of bipedal robotic control techniques for multiple locomotion behaviors. Insight into the fundamental behaviors of human locomotion is obtained through the examination of experimental human data for walking on flat ground, upstairs, and downstairs. Specifically, it is shown that certain outputs of the human, independent of locomotion terrain, can be characterized by a single function, termed the extended canonical human function. Through feedback linearization, human‐inspired locomotion controllers are leveraged to drive the outputs of the simulated robot, via the extended canonical human function, to the outputs from human locomotion. An optimization problem, subject to the constraints of partial hybrid zero dynamics, is presented that yields parameters of these controllers that provide the best fit to human data while ensuring stability of the controlled bipedal robot. The resulting behaviors are stable walking on flat ground, upstairs, and downstairs—these three locomotion modes are termed ‘motion primitives’. A second optimization is presented, which yields controllers that evolve the robot from one motion primitive to another—these modes of locomotion are termed ‘motion transitions’. A directed graph consisting these motion primitives and motion transitions has been constructed for the stable motion planning of bipedal locomotion. A final simulation is given, which shows the controlled evolution of a robotic biped as it transitions through each mode of locomotion over a pyramidal staircase. Copyright © 2013 John Wiley & Sons, Ltd.

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“…28 Based on impedance control, several gait control methods have been proposed. 6,[28][29][30][31][32] For example, an impedance control based gait controller with gravity compensation was proposed to realize running on a bipedal robot. 31 The quadrupedal robots HyQ and MIT-Cheetah both demonstrated dynamic trotting by utilizing force-based impedance control and central pattern generator.…”

Section: Introductionmentioning

confidence: 99%

Towards dynamic alternating tripod trotting of a pony-sized hexapod robot for disaster rescuing based on multi-modal impedance control

Sun¹,

Gao²,

Chen³

2018

Robotica

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SUMMARYHexapod robots are well suited for disaster rescuing tasks due to their stability and load capability. However, most current hexapod robots still rely on static gaits that largely limit their locomotion speed. This paper introduces a hierarchical control strategy to realize a dynamic alternating tripod trotting gait for a hexapod robot based on multi-modal impedance control. At the low level, a position-based impedance controller is developed to realize an adjustable compliant behavior for each leg. At the high level, a new gait controller is developed to generate a stable alternating tripod trotting gait, in which a gait state machine, a leg compliance modulation strategy, and a close-looped body attitude stabilizer are imposed. As a result, the alternating tripod trotting of the hexapod robot can be synchronized as the running of a bipedal robot with stable body attitude. Moreover, this control strategy was verified by experiments on a newly designed pony-sized disaster rescuing robot, HexbotIV, which successfully achieved a dynamic trotting gait with ability to resist the disturbances of mildly uneven terrains. Our control strategy as well as the experimental study can be a valuable reference for other hexapod robots and thus paves a way to the practical deployment of disaster rescuing robots.

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Asymmetric trajectory generation and impedance control for running of biped robots

Cited by 20 publications

References 37 publications

Online adaptation for humanoids walking on uncertain surfaces

Online adaptation for humanoids walking on uncertain surfaces

Human‐inspired motion primitives and transitions for bipedal robotic locomotion in diverse terrain

Towards dynamic alternating tripod trotting of a pony-sized hexapod robot for disaster rescuing based on multi-modal impedance control

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