Humanoid Robot HRP-5P: An Electrically Actuated Humanoid Robot With High-Power and Wide-Range Joints

Kaneko, Kenji; Kaminaga, Hiroshi; Sakaguchi, Toshifumi; Kajita, Shin; Morisawa, Masaaki; Kumagai, Iori; Kanehiro, Fumio

doi:10.1109/lra.2019.2896465

Cited by 120 publications

(51 citation statements)

References 13 publications

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“…These robot configuration parameters in Table 1 are chosen depending on the newly designed humanoid robot in Beijing Institute of Technology. It has a similar structure and the same number of degrees of freedom of the leg with P2, BHR-5 and HRP-5P [4][5][6], as shown in Figure 1. The advantage of the newly designed robot is the more powerful leg joints.…”

Section: Simulationmentioning

confidence: 99%

“…Therefore, humanoid robots are expected to have broad applications in rescue and relief, public service and family service, etc. Since the release of P2 by Honda in the late 1990s, research on humanoid robots has been a major area of interest, and significant progress has been made in mechanical structures, electrical systems, and control algorithms [4][5][6][7]. However, there have been many weaknesses and problems in humanoid robots so far, e.g., low walking speed, tipping over easily, and an inability to perform other tasks while walking.…”

Section: Introductionmentioning

confidence: 99%

“…In addition, there is always an inertial measurement unit (IMU) fixed inside the chest. P2, HRP-5P, BHR-5, et al have the similar leg configuration and sensors [4][5][6]. In this type of structure, since the motor must be placed inside or near its corresponding joint, and the harmonic drive gear associated with it is also heavy, the weight of the leg is greatly increased.…”

Section: Introductionmentioning

confidence: 99%

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Anti-Slip Gait Planning for a Humanoid Robot in Fast Walking

Zhao

Gao

2019

Applied Sciences

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Humanoid robots are expected to have broad applications due to their biped mobility and human-like shape. To increase the walking speed, it is necessary to increase the power for driving the joints of legs. However, the resulting mass increasing of the legs leads to a rotational slip when a robot is walking fast. In this paper, a 3D three-mass model is proposed, in which both the trunk and thighs are regarded as an inverted pendulum, and the shanks and feet are considered as mass-points under no constraints with the trunk. Then based on the model, a friction constraint method is proposed to plan the trajectory of the swing leg in order to achieve the fastest walking speed without any rotational slip. Furthermore, the compensation for zero-moment point (ZMP) is calculated based on the 3D three-mass model, and the hip trajectory is obtained based on the compensated ZMP trajectory by using the preview control method, thus improving the robot’s overall ZMP follow-up effect. This planning method involves simple calculations but reliable results. Finally, simulations confirm that the rotational slip is avoided while stable and fast walking is realized, with free joints of the waist and arms, which then could be planned for other tasks.

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Section: Simulationmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Anti-Slip Gait Planning for a Humanoid Robot in Fast Walking

Zhao

Gao

2019

Applied Sciences

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“…These controllers are implemented on joint-torque-controlled humanoid robots (e.g., TORO [12], Atlas [13], and Valkyrie [14]) and stabilize the robots’ postures on unknown uneven terrain. However, these controllers cannot be used in position-controlled humanoid robots (e.g., DRC-HUBO+ [15], HRP-4 [16], and JAXON [17]).…”

Section: Introductionmentioning

confidence: 99%

A Robust Balance-Control Framework for the Terrain-Blind Bipedal Walking of a Humanoid Robot on Unknown and Uneven Terrain

Joe

2019

Sensors

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Research on a terrain-blind walking control that can walk stably on unknown and uneven terrain is an important research field for humanoid robots to achieve human-level walking abilities, and it is still a field that needs much improvement. This paper describes the design, implementation, and experimental results of a robust balance-control framework for the stable walking of a humanoid robot on unknown and uneven terrain. For robust balance-control against disturbances caused by uneven terrain, we propose a framework that combines a capture-point controller that modifies the control reference, and a balance controller that follows its control references in a cascading structure. The capture-point controller adjusts a zero-moment point reference to stabilize the perturbed capture-point from the disturbance, and the adjusted zero-moment point reference is utilized as a control reference for the balance controller, comprised of zero-moment point, leg length, and foot orientation controllers. By adjusting the zero-moment point reference according to the disturbance, our zero-moment point controller guarantees robust zero-moment point control performance in uneven terrain, unlike previous zero-moment point controllers. In addition, for fast posture stabilization in uneven terrain, we applied a proportional-derivative admittance controller to the leg length and foot orientation controllers to rapidly adapt these parts of the robot to uneven terrain without vibration. Furthermore, to activate position or force control depending on the gait phase of a robot, we applied gain scheduling to the leg length and foot orientation controllers, which simplifies their implementation. The effectiveness of the proposed control framework was verified by stable walking performance on various uneven terrains, such as slopes, stone fields, and lawns.

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“…Most of the humanoid robots studied in the scientific literature have kinematic chains with 6 degrees of freedom (DOF) per leg so that the poses (i. e. positions and orientations) of both the torso and the oscillating foot can be fully controlled in the 3D space during the walking [1][2][3][4][5][6][7]. However, the popular Nao humanoid robot has only 11 DOF in the legs [8].…”

Section: Introductionmentioning

confidence: 99%

Cycloidal Gait With Double Support Phase for the Nao Humanoid Robot

Fierro

De-León-Gómez

2019

EUREKA: Physics and Engineering

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The commercial Nao humanoid robot has 11 DOF in legs. Even if these legs include 12 revolute joints, only 11 actuators are employed to control the walking of the robot. Under such conditions, the mobility of the pelvis and that of the oscillating foot are mutually constrained at each step. Besides, the original gait provided by the manufacturer company of the Nao employs only single support phases during the walking. Because of both issues, the reduced mobility in legs and the use of only single support phases, the stability of the walking is affected. To contribute to improving such stability, in this paper an approach is proposed that incorporates a double support phase and a gait based on cycloidal time functions for motions of the pelvis and those of the oscillating foot. To assess the stability of the walking an index is applied, which is based on the notion of zero-moment point (ZMP) of the static foot at each step. Results of experimental tests show that the proposed gait enhances the stability of the robot during the walking.

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Humanoid Robot HRP-5P: An Electrically Actuated Humanoid Robot With High-Power and Wide-Range Joints

Cited by 120 publications

References 13 publications

Anti-Slip Gait Planning for a Humanoid Robot in Fast Walking

Anti-Slip Gait Planning for a Humanoid Robot in Fast Walking

A Robust Balance-Control Framework for the Terrain-Blind Bipedal Walking of a Humanoid Robot on Unknown and Uneven Terrain

Cycloidal Gait With Double Support Phase for the Nao Humanoid Robot

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