Constrained Analytical Trajectory Filter for stabilizing humanoid robot motions

Muecke, Karl; Hong, Dennis

doi:10.1007/s11370-011-0094-7

Cited by 7 publications

(2 citation statements)

References 38 publications

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“…By investigating the papers in the same area, we can mention some highlight researches. For instance, conventional approach which generates the robot motion is based on the zero moment point (ZMP) and foot trajectories is predefined [2,3,4]. Simultaneously, a controller is integrated to conserve the balance under internal errors and external disturbances.…”

Section: Introductionmentioning

confidence: 99%

Development of Foot Structure for Humanoid Robot Using Topology Optimization

Nguyen

Kiuchi

Hasegawa

2018

AEF

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This paper addresses the development of a foot structure for 22-Degree of Freedom (DoF) humanoid robot. The goal of this research is to reduce the weight of the foot and enable the robot to walk steadily. The proposed foot structure is based on the consideration of cases where the ground reaction forces are set up in different situations. The optimal foot structure is a combination of all the topology optimization results. Additionally, a gait pattern is generated by an approximated optimization method based on Response Surface Model (RSM) and Improved Self-Adaptive Differential Evolution Algorithm (ISADE). The result is validated through dynamic simulation by a commercially available software called Adams (MSC software, USA) with the humanoid robot named KHR-3HV belonging to Kondo Kagaku company.

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Section: Introductionmentioning

confidence: 99%

Development of Foot Structure for Humanoid Robot Using Topology Optimization

Nguyen

Kiuchi

Hasegawa

2018

AEF

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“…Likewise, Kondo et al [8] described an algorithm for emulations of disabled person's gait based on the ZMP criterion. Also, a constrained analytical trajectory filter [9] was a part of an analytical motion filter using the zero moment point as the stability criteria.…”

Section: Introductionmentioning

confidence: 99%

A Gait Generation for Biped Robot Based on Artificial Neural Network and Improved Self-Adaptive Differential Evolution Algorithm

Nguyen¹,

Bui²,

Hasegawa³

2016

IJMLC

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Gait generation is very important as it directly effects on the quality of locomotion of biped robots. In point of mathematical view, a gait generation problem is considered as an optimization problem with constraints, it is readily engaged itself to Evolutionary Computation methods and solutions. This paper proposes a novel approach for gait pattern generation of the biped robot. This is to aim to enable the robot to walk more naturally and more stably in locomotion on flat ground. In this study, the approximated optimization method based on Artificial Neural Networks (ANNs) and Improved Self-Adaptive Differential Evolution Algorithm (ISADE) for a gait generation problem is mentioned. To evaluate the achievement of the proposed method, the robot was simulated by multi-body dynamic simulation software, Adams (MSC software, USA). Besides, the walking behavior of the robot is also considered in comparison with that of the human. The result shows that the new approach is an effective method for a gait generation of the biped robot.

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