Online Gait Generation For NAO Humanoid Robot Using Model Predictive Control

Mohamed, Samer A.; Awad, Mohammed I.; Maged, Shady A.

doi:10.1109/itce48509.2020.9047782

Cited by 5 publications

(4 citation statements)

References 9 publications

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“…Personnel and overhead costs are not included in these expenses. Overall, the prototype's cost is approximately USD 5000, which is lower than that of humanoid robots like NAO and Poppy [44,46]. Unlike these models, NU-Biped-4.5 is a full-size robot with dynamic properties and movement capabilities closer to those of a human being.…”

Section: Discussionmentioning

confidence: 99%

“…Developing a full-scale humanoid robot demands substantial human and financial resources, making this field challenging to access for many research teams worldwide. Consequently, these teams often choose to conduct scientific research with smaller humanoid robots, such as the commercially available 58 cm tall NAO robot (whose V6 versions currently has a price tag of USD 12,990) [44], or with robots developed in house using small servomotors [45]. However, a scaled-down robot exhibits dynamic properties and movement capabilities that differ significantly from those of a full-sized, human-scale robot.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

NU-Biped-4.5: A Lightweight and Low-Prototyping-Cost Full-Size Bipedal Robot

Folgheraiter,

Yessirkepov,

Umurzakov

2023

Robotics

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This paper presents the design of a new lightweight, full-size bipedal robot developed in the Humanoid Robotics Laboratory at Nazarbayev University. The robot, equipped with 12 degrees of freedom (DOFs), stands at 1.1 m tall and weighs only 15 kg (excluding the battery). Through the implementation of a simple mechanical design and the utilization of off-the-shelf components, the overall prototype cost remained under USD 5000. The incorporation of high-performance in-house-developed servomotors enables the robot’s actuation system to generate up to 2400 W of mechanical power, resulting in a power-to-weight ratio of 160 W/kg. The details of the mechanical and electrical design are presented alongside the formalization of the forward kinematic model using the successive screw displacement method and the solution of the inverse kinematics. Tests conducted in both a simulation environment and on the real prototype demonstrate that the robot is capable of accurately following the reference joint trajectories to execute a quasi-static gait, achieving an average power consumption of 496 W.

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Section: Discussionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

NU-Biped-4.5: A Lightweight and Low-Prototyping-Cost Full-Size Bipedal Robot

Folgheraiter,

Yessirkepov,

Umurzakov

2023

Robotics

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show abstract

“…Existem duas abordagens usuais para o projeto de controladores baseados na marcha quase estática: i) otimizar os parâmetros de um controlador clássico aplicado à abstrac ¸ão do modelo cinemático do robô [Rapetti et al 2019] [Sari et al 2019]; e ii) obter informac ¸ões do ambiente que ajudarão a ter um controlador mais robusto [Mohamed et al 2020]. A caminhada quase estática envolve a análise da estrutura e cinemática do robô.…”

Section: Marcha Quase Estáticaunclassified

Controlador desacoplado livre de modelo para caminhada de robôs humanoides

Tejada-Begazo

Colombini

Simões

2022

Anais Estendidos Do XIV Simpósio Brasileiro De Robótica E XIX Simpósio Latino-Americano De Robótica (SBR/LARS Estendido 2022)

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Controlar os movimentos de robôs projetados para atuar com ferramentas e em ambientes feitos para humanos tem se mostrado uma tarefa desafiadora. Essa dificuldade tem estimulado a investigação de novos métodos de controle que independam do modelo dinâmico dos robôs. A robô humanoide Marta, projetada e construída pelo grupo de trabalho, apresenta características construtivas diferenciadas: pés pequenos, pontas dos pés articuladas e junta esférica na cintura. Tendo em vista a arquitetura deste robô, o presente trabalho apresenta um controlador livre de modelo para a marcha de robôs humanoides composto por dois blocos desacoplados: i) um controlador clássico para a articulação esférica da cintura que foca na estabilidade do robô e ii) um controlador de trajetória para marcha baseada na Série Truncada de Fourier com parâmetros sintonizados por algoritmo genético. Os resultados mostram que a arquitetura mecânica e a estratégia de controle desacoplado têm juntas potencial para conferir robustez adicional ao caminhar de robôs bípedes em relação às técnicas convencionais.

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“…A more versatile model for gait generation and perhaps the most widely used is the cart table model that basically simplifies the robot as a cart moving back and forth on a table at a constant height from the ground and introduces the zero moment point (ZMP) concept. [29][30][31][32] This article proposes novel solutions to both basic models, which could help enhance the walking pattern generation process and make the basic models more flexible and considerate of practical walking considerations like smooth single support-double support transitioning and overall power consumption. This article evaluates the performance metrics of the presented closed form and numerical approaches for walking pattern generation and takes the NAO humanoid robot as a valid example.…”

Section: Introductionmentioning

confidence: 99%

A performance comparison between closed form and numerical optimization solutions for humanoid robot walking pattern generation

Mohamed

Maged

Awad

2021

International Journal of Advanced Robotic Systems

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This article presents the modeling process of the lower part of a humanoid biped robot in terms of kinematic/dynamic states and the creation of a full dynamic simulation environment for a walking robot using MATLAB/Simulink. This article presents two different approaches for offline walking pattern generation: one relying on a closed-form solution of the linear inverted pendulum model (LIPM) mathematical model and another that considers numerical optimization as means of desired output trajectory following for a cart table state-space model. This article then investigates the possibility of introducing solution-dependent modifications to both approaches that could increase the reliability of basic walking pattern generation models in terms of smooth single support–double support phase transitioning and power consumption optimization. The algorithms were coded into offline walking pattern generators for NAO humanoid robot as a valid example and the two approaches were compared against each other in terms of stability, power consumption, and computational effort as well as against their basic unmodified counterparts.

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Online Gait Generation For NAO Humanoid Robot Using Model Predictive Control

Cited by 5 publications

References 9 publications

NU-Biped-4.5: A Lightweight and Low-Prototyping-Cost Full-Size Bipedal Robot

NU-Biped-4.5: A Lightweight and Low-Prototyping-Cost Full-Size Bipedal Robot

Controlador desacoplado livre de modelo para caminhada de robôs humanoides

A performance comparison between closed form and numerical optimization solutions for humanoid robot walking pattern generation

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