Optimal Pattern Generator for Dynamic Walking in humanoid Robotics

Galdeano, David; Chemori, A.; Krut, S.; Fraisse, P.

doi:10.1515/9783110448436-008

Systems, Analysis and Automatic Control 2016

DOI: 10.1515/9783110448436-008

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Optimal Pattern Generator for Dynamic Walking in humanoid Robotics

David Galdeano¹,

A. Chemori²,

S. Krut³

et al.

Abstract: Abstract-This paper deals with an optimal ZMP based pattern generator for stable dynamic walking. The proposed method is based on a Three-Mass Linear Inverted Pendulum Model (3MLIPM), used as a simplified dynamics of the biped robot. The 3MLIPM simplifies the biped robot as a three point masses and two-link system. A ZMP based criterion is then used in an optimization problem whose solution gives the best values of the model's parameters w.r.t. dynamic walking stability. Numerical simulations are presented to … Show more

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2018

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“…In this type of problem, the complexity of its solution stands out particularly due to the high non-linearity of the models developed for bipedal platforms. This is why many developments in control schemes assume simplified models of the robot with limited success [19,20,21].…”

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A Dynamic Walking Strategy for the Nao Robot Considering Path Planning, CoM and ZMP

Sarmiento¹,

Martínez²,

Jacinto³

2018

IJET

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This paper deals with the problem of the locomotion of robots with two legs with a design inspired by human locomotion (anthropomorphic bipedal robots). The future intention of the research group is to consolidate a robotic platform capable of interacting side by side with the human being, in particular by providing services to people. We propose a dynamic bipedal walking scheme based on a simulated model of inverted pendulum and using the Zero Moment Point (ZMP) as a control strategy. To solve the problem of closed-loop control, the strategy estimates the robot's Center of Mass (CoM) continuously. The formulation, analysis, solution and implementation is done on the Nao robot from Aldebaran Robotics. The strategy was encoded in a NAOqi module in Python, and executed in a Nao V5. The behavior of the robot during the walk demonstrated the success of the strategy. Keyword-Bipedal robot, Center of mass, Dynamic walking, Locomotion, Zero moment point I. INTRODUCTION Despite the great progress made in recent years in robot control, and in particular in the area of bipedal walking schemes, many problems remain open to solution in this area [1]. The inherent complexity of these robots makes their control a difficult task, even with the most advanced hardware. This paper focuses on the predictive control of the model of a bipedal robot, which, following the previous experiences of other research projects of the group, uses an approximation of the behaviour of the leg to an inverted pendulum [2]. The proposed model is estimated in real time, using a simplified method with an approximation of the robot's Centre of Mass (CoM). The formulation, analysis, solution and implementation is done on the Nao robot from Aldebaran Robotics [3]. We selected the Nao robot for its great versatility, its wide range of movements that allows it to perform various tasks [4], which can be controlled through a simple programming algorithm [5]. The path planning for autonomous robots in human environments is one of the areas of greater research in robotics. In the case of robots with legs the possibilities of movement are greater, and therefore the problem is more complex [6]. Thanks to this type of displacement robots have the possibility to navigate rough terrain, unlike the flat floors used by robots with wheels. To do this, legged robots should support their legs in the surrounding environment regions that meet a certain number of characteristics, generally similar to those in flat environments. The rest of the environment does not require these characteristics, reason why they have in general a greater capacity of displacement. The problem of walking robots with legs can be divided into two: the problem of route planning in the environment, and the problem of robot movement along this route [7]. In the first case, a global path planning scheme is usually proposed. These planning schemes consider the placement of the foot in the environment, the configurations of the contact with the terrain, and the connectivity of these configurations. Ac...

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confidence: 99%

A Dynamic Walking Strategy for the Nao Robot Considering Path Planning, CoM and ZMP

Sarmiento¹,

Martínez²,

Jacinto³

2018

IJET

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Optimal Pattern Generator for Dynamic Walking in humanoid Robotics

Cited by 1 publication

References 9 publications

A Dynamic Walking Strategy for the Nao Robot Considering Path Planning, CoM and ZMP

A Dynamic Walking Strategy for the Nao Robot Considering Path Planning, CoM and ZMP

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