On the Walking Pattern Generators of Biped Robot

Al-Shuka, Hayder F. N.; Corves, Burkhard

doi:10.12720/joace.1.2.149-155

Cited by 13 publications

(12 citation statements)

References 5 publications

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“…However, the inverted-pendulum based gait can provide us very good initial guess. Therefore, we depended on this strategy in all investigated cases [31]. One of the disadvantages of the fmincon is that it can get stuck in local minimum, therefore, hybrid genetic-sequential quadratic programming (ga-fmincon) was used to capture the global minimum, as shown in Fig.…”

Section: Simulation Results and Discussionmentioning

confidence: 99%

On the Dynamic Optimization of Biped Robot

Al-Shuka¹,

Corves²,

Zhu³

2013

LNSE

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Abstract-This paper concentrates on three important points: the selection of the suitable direct method used for suboptimal control of the biped robot, the selection of the appropriate nonlinear programming (NLP) algorithm that searches for the global minimum rather than the local minimum, and the effect of different constraints on the energy of the biped robot. To perform the mentioned points, the advantages and disadvantages of the optimal control methods were illustrated. The inverse-dynamics based optimization is preferred because of the ability to convert the original optimal control into algebraic equations which are easy to deal with. The inverse-dynamics-based optimization was classified as spline and the finite difference based optimization. Due to the easy use of the latter, it was used for investigating seven cases with different constraints for 6-DOF biped robot during the single support phase (SSP). Hybrid genetic-sequential quadratic programming (GA-SQP) was used for simulation of the target robot with MATLAB. It can be concluded that more imposed constraints on the biped robot, more energy is needed. In general, more energy can be required in the case of (1) restriction of the swing foot to be level to the ground and (2) reducing the hip height or constraining the hip to move in constant height.Index Terms-Biped robot, dynamic optimization suboptimal control, walking patterns.

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Section: Simulation Results and Discussionmentioning

confidence: 99%

On the Dynamic Optimization of Biped Robot

Al-Shuka¹,

Corves²,

Zhu³

2013

LNSE

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“…The performances of stable walk are limited by the size of the obstacle, also not able to walk on a slope above 5° without sliding or falling over [1]. Where another research, was focused on swing leg from single support phase (SSP) to double support phase (DSP), for this was proposed three methods [2]. The first one include I M. Tkach, K. Araffa, D. Humennyi designing polynomial functions for the hip trajectory during the complete gait cycle, satisfying the constraints and continuity conditions, second method suggests employing a simple dynamic model for the biped robot denoted by the linear inverted pendulum mode (LIPM), and Third one suggests describing a suitable center of gravity (CoG) acceleration during the DSP satisfying continuous conditions at the instance of the transition.…”

Section: Analysis Of Other Workmentioning

confidence: 99%

Огляд Методів І Підходів Для Планування Траєкторії Руху Антропоморфного Крокуючого Апарата Довільною Опорною Поверхнею Із Збереженням Найбільшого Запасу Стійкості

Ткач¹,

Арфааф²,

Гуменний³

2016

«Адаптивні Системи Автоматичного Управління Міжвідомчий науково

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Biped robot expected to achieve stable walking on uneven terrains. For that, we should have some different algorithms to achieved generation robot trajectory with stable walking and controlling balance in different error patterns.In this paper presented a novel concept to solve the problem of finding the absolute position of foot of biped, in Cartesian coordinates with the largest stability margin, and then control the joint angles to obtain the desired absolute position at big angular momentum during dynamic walking of Biped Robot on uneven terrain.

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“…The DSP arises when both feet contact the ground resulting in a closed chain mechanism while SSP starts when the rear foot swings in the air with the front foot flat on the ground. Different walking patterns can be selected for the design of biped locomotion as detailed in [2,10]. However, the walking pattern described in Figure 1 will be adopted in this paper.…”

Section: Walking Patternsmentioning

confidence: 99%

“…Due to the redundancy of coordinates in (6), it is possible to express the dependent generalized coordinates in terms of the independent ones as follows. (10) Twice differentiating (10) yields (11) with (12) Blocking together (8) and (11) to get (13) Thus, it is possible to get the following important relations (14) The matrix plays an important role in eliminating ; the following orthogonality condition holds (15) Differentiating (14) to obtain (16) Substituting (14 ) and (16 ) into (6 ) to get (17) Alternatively, (17) can be re-written as (18) with ,…”

Section: The E-l Equations Of the First Kind (The Dsp)mentioning

confidence: 99%

Dynamic Modeling of Biped Robot using Lagrangian and Recursive Newton-Euler Formulations

Al-Shuka¹,

Corves²,

Zhu³

2014

IJCA

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The aim of this paper is to derive the equations of motion for biped robot during different walking phases using two wellknown formulations: Euler-Lagrange (E-L) and Newton-Euler (N-E) equations. The modeling problems of biped robots lie in their varying configurations during locomotion; they could be fully actuated during the single support phase (SSP) and overactuated during the double support phase (DSP). Therefore, first, the E-L equations of 6-link biped robot are described in some details for dynamic modeling during different walking phases with concentration on the DSP. Second, the detailed description of modified recursive Newton-Euler (N-E) formulation (which is very useful for modeling complex robotic system) is illustrated with a novel strategy for solution of the over-actuation/discontinuity problem. The derived equations of motion of the target biped for both formulations are suitable for control laws if the analyzer needs to deal with control problems. As expected, the N-E formulation is superior to the E-L concerning dealing with high degrees-offreedom (DoFs) robotic systems (larger than 6 DoFs).

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On the Walking Pattern Generators of Biped Robot

Cited by 13 publications

References 5 publications

On the Dynamic Optimization of Biped Robot

On the Dynamic Optimization of Biped Robot

Dynamic Modeling of Biped Robot using Lagrangian and Recursive Newton-Euler Formulations

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