Learning to Adjust and Refine Gait Patterns for a Biped Robot

Hwang, Kao-Shing; Lin, Jin-Ling; Yeh, Keng-Hao

doi:10.1109/tsmc.2015.2418321

Cited by 28 publications

(12 citation statements)

References 16 publications

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“…Nowadays, intelligent robot application areas expand into every walk of life such as the biped robots, [1][2][3] unmanned aerial vehicles, [4][5][6] mobile robots, 7 and so on. Among them, the researches on mobile robots always play an important role complying with their better stability.…”

Section: Introductionmentioning

confidence: 99%

A novel fuzzy three-dimensional grid navigation method for mobile robots

Shi

Pan

et al. 2017

International Journal of Advanced Robotic Systems

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The objective of the autonomous navigation aims to achieve the self-motion control for a robot with the environmental feedbacks and becomes popular recently. Problems of complex modeling, large amount of calculation, and lacking of environmental information always exist in autonomous navigation methods. This article proposes a self-navigation method with a fuzzy three-dimensional grid depicted by dual two-dimensional grid maps. Meanwhile, a synthetic preprocess is presented to perform localization through switching among the weighted three-point localization method, the two-point localization method, and the weighted average localization method. For reducing the amount of calculation, an improved fuzzy three-dimensional grid mapping method where the three-dimensional map is described by dual two-dimensional grid maps, the identifier map, and the height map is designed. Especially, the static and dynamic information within the map are divided and updated fuzzily. The global path planning is performed with the static information, and the real-time obstacle avoidance is conducted with the dynamic information. The results of simulations and experiments demonstrate that the proposed method has better properties in efficiency of navigation and lower amount of calculation than the competing methods.

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Section: Introductionmentioning

confidence: 99%

A novel fuzzy three-dimensional grid navigation method for mobile robots

Shi

Pan

et al. 2017

International Journal of Advanced Robotic Systems

Self Cite

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“…The concept of stability, which defines the type of walking, is divided into two categories, as follows: Static stability: the projection of the COM onto the walking plane must always lie within the support polygon. Thus, the COM is always vertically aligned to the area of the robot's stance foot, and is calculated by:

\begin{align} p x_{COM} = \frac{1}{M} true \sum_{i = 1}^{N_{m}} m_{i} x_{i}, \end{align}

\begin{align} p y_{COM} = \frac{1}{M} true \sum_{i = 1}^{N_{m}} m_{i} y_{i}, \end{align}

\begin{align} p z_{COM} = \frac{1}{M} true \sum_{i = 1}^{N_{m}} m_{i} z_{i} . \end{align}

Dynamic stability: The ZMP must always lie within the area of the stance foot, and its coordinates can be calculated as, considering support at pz =0:

\begin{align} p x_{ZMP} = p x_{COM} prefix- \frac{{\overset{p x}{true}}_{COM} p z_{COM}}{{\overset{p z}{true}}_{COM} + g}, \end{align}

…”

Section: Case Study Of the Proposed Control Designmentioning

confidence: 99%

“…Strategies based on dynamically stable walking allow the projection of the COM to be outside the support polygon if the ZMP lies within the support area. Thus, dynamic stability might be less restrictive for trajectory generation …”

Section: Case Study Of the Proposed Control Designmentioning

confidence: 99%

Nonlinear predictive control applied to a biped walker with adjustable step length using a passive walking‐based reference generator

Negri

Rosa

Cavalca

et al. 2020

Optim Control Appl Methods

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This paper presents the use of passive dynamics to generate the sagittal plane references for a biped walker. In order to achieve an adjustable gait width, a neural network reference generator, trained with passive walking data on different slopes, was applied. The control algorithm was implemented with an Nonlinear Model Predictive Control (NMPC) strategy, in order to perform multiple-input multiple-output reference tracking while maintaining balance. The main contributions of the present work are using a kneed passive walker model for reference generation, which creates gait profiles that are more natural than the compass gait model, presenting a low computational cost, since only the forward kinematic model is used, and enabling adjustable gait width, due to the use of a neural network trained with data from the passive walker. Simulation results using V-REP (Virtual Robot Experimentation Platform) are presented, using a sagittal kneed walker with a torso and arms, demonstrating the effectiveness of the proposed method.

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“…The angle at each joint can be calculated and rotated to simulate the straightforward gait pattern. Furthermore, some studies were developed to adjust the poses [26] of the humanoid robot in order to speed up the learning process. The robot poses are formed by a set of gait patterns to avoid the complex adjustment of multiple joints and to further implement the straightforward gait pattern.…”

Section: Introductionmentioning

confidence: 99%

Q-Learning of Straightforward Gait Pattern for Humanoid Robot Based on Automatic Training Platform

et al. 2019

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In this paper, an oscillator-based gait pattern with sinusoidal functions is designed and implemented on a field-programmable gate array (FPGA) chip to generate a trajectory plan and achieve bipedal locomotion for a small-sized humanoid robot. In order to let the robot can walk straight, the turning direction is viewed as a parameter of the gait pattern and Q-learning is used to obtain a straightforward gait pattern. Moreover, an automatic training platform is designed so that the learning process is automated. In this way, the turning direction can be adjusted flexibly and efficiently under the supervision of the automatic training platform. The experimental results show that the proposed learning framework allows the humanoid robot to gradually walk straight in the automated learning process.

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Learning to Adjust and Refine Gait Patterns for a Biped Robot

Cited by 28 publications

References 16 publications

A novel fuzzy three-dimensional grid navigation method for mobile robots

A novel fuzzy three-dimensional grid navigation method for mobile robots

Nonlinear predictive control applied to a biped walker with adjustable step length using a passive walking‐based reference generator

Q-Learning of Straightforward Gait Pattern for Humanoid Robot Based on Automatic Training Platform

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