Biped Walking Based on Stiffness Optimization and Hierarchical Quadratic Programming

Shi, Xiuzhi; Gao, Junyao; Lu, Yizhou; Tian, Dingkui; Liu, Yi

doi:10.3390/s21051696

Cited by 10 publications

(7 citation statements)

References 27 publications

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“…During biped robot movement on non-flat terrain, a coupling relationship exists between the swing foot and terrain such that the height of the swing foot has to be greater than the terrain to avoid collision when the foot reaches the position of the terrain. Moreover, some complex constraints which are difficult to express in linear form can be written in complementary form [ 19 , 20 , 21 ], such as contact trigger conditions and contact force, which is analogous to the coupling relationship between the swing foot and terrain. Inspired by this, we try to use complementary constraints to introduce the relationships between foot motion and terrains into gait planning.…”

Section: Introductionmentioning

confidence: 99%

A Non-Flat Terrain Biped Gait Planner Based on DIRCON

et al. 2022

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Various constraints exist in bipedal movement. Due to the natural ability of effectively handling constraints, trajectory optimization has become one of the mainstream methods in biped gait planning, especially when constraints become much more complex on non-flat terrain. In this paper, we propose a multi-modal biped gait planner based on DIRCON, which can generate different gaits for multiple, non-flat terrains. Firstly, a virtual knot is designed to model the state transitions when the swing foot contacts terrain and is inserted as the first knot of the target trajectory of the current support phase. Thus, a complete gait or multi-modal gaits sequence can be generated at one time. Then, slacked complementary constraints, which can avoid undesired trajectories, are elaborated to describe the coupling relationships between terrain information and bipedal motion for trajectory optimization based gait planning. The concrete form of the gait planner is also delivered. Finally, we verify the performance of the planner, as well as the structural design of our newly designed biped robot in CoppeliaSim through flat terrain walking, stairs terrain walking and quincuncial piles walking. The three experiments show that the gaits planned by the proposed planner can enable the robot to walk stably over non-flat terrains, even through simple PD control.

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Section: Introductionmentioning

confidence: 99%

A Non-Flat Terrain Biped Gait Planner Based on DIRCON

et al. 2022

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“…However, these special types of robots have limited universal applicability because of their specialized form. Therefore, research on the use of humanoids under different circumstances, such as walking [ 10 , 11 , 12 , 13 ] or the climbing of stairs and ladders [ 14 , 15 , 16 ], is ongoing. The objective is to facilitate the performance of various universal tasks by imitating human behavior.…”

Section: Introductionmentioning

confidence: 99%

Carved Turn Control with Gate Vision Recognition of a Humanoid Robot for Giant Slalom Skiing on Ski Slopes

Park

Kim

et al. 2022

Sensors

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The performance of humanoid robots is improving, owing in part to their participation in robot games such as the DARPA Robotics Challenge. Along with the 2018 Winter Olympics in Pyeongchang, a Skiing Robot Competition was held in which humanoid robots participated autonomously in a giant slalom alpine skiing competition. The robots were required to transit through many red or blue gates on the ski slope to reach the finish line. The course was relatively short at 100 m long and had an intermediate-level rating. A 1.23 m tall humanoid ski robot, ‘DIANA’, was developed for this skiing competition. As a humanoid robot that mimics humans, the goal was to descend the slope as fast as possible, so the robot was developed to perform a carved turn motion. The carved turn was difficult to balance compared to other turn methods. Therefore, ZMP control, which could secure the posture stability of the biped robot, was applied. Since skiing takes place outdoors, it was necessary to ensure recognition of the flags in various weather conditions. This was ensured using deep learning-based vision recognition. Thus, the performance of the humanoid robot DIANA was established using the carved turn in an experiment on an actual ski slope. The ultimate vision for humanoid robots is for them to naturally blend into human society and provide necessary services to people. Previously, there was no way for a full-sized humanoid robot to move on a snowy mountain. In this study, a humanoid robot that transcends this limitation was realized.

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“…Many researchers have applied quantity theory or other conservative theories to build differential equations to simulate and analyze nonlinear systems [1][2][3]. Human walking models derived mathematically are widely used in many engineering fields, such as gait analysis [4][5][6][7][8][9][10][11], human walking assistance [12,13], motion stability control of robots [14][15][16][17][18], and response prediction of civil structures induced by pedestrians [19][20][21]. A variety of kinetic models, both passive and active ones, are developed from nonlinear differential equations to study the kinetic phenomenon in human walking.…”

Section: Introductionmentioning

confidence: 99%

A Three-Dimensional Mass-Spring Walking Model Could Describe the Ground Reaction Forces

Liang

Xie

Zhang

et al. 2021

Mathematical Problems in Engineering

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The oscillatory behavior of the center of mass (CoM) and the ground reaction forces (GRFs) of walking people can be successfully explained by a 2D spring-loaded inverted pendulum (SLIP) model. However, the application of the 2D model is just restricted to a two-dimensional plane as the model fails to take the GRFs in the lateral direction into consideration. In this article, we simulated the gait cycle with a nonlinear dynamic model—a three-dimensional bipedal walking model—that compensated for defects in the 2D model. An experiment was conducted to compare the simulation results with the experimental data, which revealed that the experimental data of the ground reaction forces were in good agreement with the results of numerical simulation. A correlation analysis was also conducted between several initial dynamic parameters of the model. Through an examination of the impact of 3D dynamic parameters on the peaks of GRFs in three directions, we found that the 3D parameters had a major effect on the lateral GRFs. These findings demonstrate that the characteristics of human walking can be interpreted from a simple spring-damper system.

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Biped Walking Based on Stiffness Optimization and Hierarchical Quadratic Programming

Cited by 10 publications

References 27 publications

A Non-Flat Terrain Biped Gait Planner Based on DIRCON

A Non-Flat Terrain Biped Gait Planner Based on DIRCON

Carved Turn Control with Gate Vision Recognition of a Humanoid Robot for Giant Slalom Skiing on Ski Slopes

A Three-Dimensional Mass-Spring Walking Model Could Describe the Ground Reaction Forces

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