Online Gait Generation Method Based on Neural Network for Humanoid Robot Fast Walking on Uneven Terrain

Zhong, Haoran; Xie, Sicheng; Li, Xinyu; Gao, Liang; Lu, Shan

doi:10.1007/s12555-021-0099-8

Cited by 6 publications

(3 citation statements)

References 59 publications

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“…As a strong technique, NN with strong capabilities of good non‐linear mapping, parallel information processing and self‐learning, has been developed to address the locomotion control and uncertain non‐linear system identification problems in bipedal robot systems [87]. Besides, the NN can reduce the computational burden of motion generation instead of online optimisation, which can guarantee online response speed [88].…”

Section: Learning Strategy‐based Gait Control Methodsmentioning

confidence: 99%

An overview on bipedal gait control methods

Hu,

Xie,

Gao

et al. 2023

IET Collab Intel Manufact

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Bipedal gait control has always been a very challenging issue due to the multi‐joint and non‐linear structure of humanoid robots and frequent robot–environment interactions. To realise stable and robust bipedal walking, many aspects including robot modelling, gait stability and environmental adaptivity should be considered to design the gait control method. In this paper, a general description of bipedal gait and the corresponding evaluation indicators are introduced. Moreover, the existing bipedal gait control methods are classified into model‐based gait, stability criterion‐based gait and learning strategy‐based gait and a comprehensive review is conducted. Finally, the existing challenges and development trends of bipedal gait control are presented.

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Section: Learning Strategy‐based Gait Control Methodsmentioning

confidence: 99%

An overview on bipedal gait control methods

Hu,

Xie,

Gao

et al. 2023

IET Collab Intel Manufact

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“…Bipeds. The majority of the studies on bipedal robots employed slopes [76-78, 80, 89, 93-97, 101, 102, 107], steps [3,4,80,81,88,93,95,[98][99][100]104], and blocks placed randomly and separated from each other [77, 79, 83-87, 91, 93]. Five [77,80,89,93,107] of the reviewed papers proposed a combination of, at least, two of them.…”

Section: Methodological Aspectsmentioning

confidence: 99%

“…Different strategies were applied to determine the motion stability in the control loop such as the ZMP method that determines whether the robot CoP is inside the region of the support leg [76,79,84,88,89,101,102]. Other methods defined the motion stability with the CoM trajectory [85,87,90,92,94,100] or joint angles [83,104,107]. Finally, control stability was also addressed by the capacity of the control system to reduce GRF since high contact forces are associated with bouncing, leading to instabilities [81,86].…”

Section: Scientific Evidencementioning

confidence: 99%

Legged locomotion over irregular terrains: state of the art of human and robot performance

et al. 2022

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Legged robotic technologies have moved out of the lab to operate in real environments, characterized by a wide variety of unpredictable irregularities and disturbances, all this in close proximity with humans. Demonstrating the ability of current robots to move robustly and reliably in these conditions is becoming essential to prove their safe operation. Here, we report an in-depth literature review aimed at verifying the existence of common or agreed protocols and metrics to test the performance of legged system in realistic environments. We primarily focused on three types of robotic technologies, i.e., hexapods, quadrupeds and bipeds. We also included a comprehensive overview on human locomotion studies, being it often considered the gold standard for performance, and one of the most important sources of bioinspiration for legged machines. We discovered that very few papers have rigorously studied robotic locomotion under irregular terrain conditions. On the contrary, numerous studies have addressed this problem on human gait, being nonetheless of highly heterogeneous nature in terms of experimental design. This lack of agreed methodology makes it challenging for the community to properly assess, compare and predict the performance of existing legged systems in real environments. On the one hand, this work provides a library of methods, metrics and experimental protocols, with a critical analysis on the limitations of the current approaches and future promising directions. On the other hand, it demonstrates the existence of an important lack of benchmarks in the literature, and the possibility of bridging different disciplines, e.g., the human and robotic, towards the definition of standardized procedures that will boost not only the scientific development of better bioinspired solutions, but also their market uptake.

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