Optimal trajectory generation for bipedal robots

Dau, Van-Huan; Chew, Chee-Meng; Poo, A.N.

doi:10.1109/ichr.2007.4813933

Cited by 11 publications

(10 citation statements)

References 16 publications

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“…This paper uses the polynomial fitting curve to plan the foot trajectory. It can be conveniently solved according to the constraints of foot position, velocity, and acceleration at the initial and end time [30], and it is also conducive to avoid the impact. Figure 4 shows an example of foot trajectory planning, which is a common situation in the straight gait of the robot.…”

Section: Foot Trajectory Planningmentioning

confidence: 99%

Straight Gait Research of a Small Electric Hexapod Robot

et al. 2021

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Gait is an important research content of hexapod robots. To better improve the motion performance of hexapod robots, many researchers have adopted some high-cost sensors or complex gait control algorithms. This paper studies the straight gait of a small electric hexapod robot with a low cost, which can be used in daily life. The strategy of “increasing duty factor” is put forward in the gait planning, which aims to reduce foot sliding and attitude fluctuation in robot motion. The straight gaits of the robot include tripod gait, quadrangular gait, and pentagonal gait, which can be described conveniently by discretization and a time sequence diagram. In order to facilitate the user to control the robot to achieve all kinds of motion, an online gait transformation algorithm based on the adjustment of foot positions is proposed. In addition, according to the feedback of the actual attitude information, a yaw angle correction algorithm based on kinematics analysis and PD controller is designed to reduce the motion error of the robot. The experiments show that the designed gait planning scheme and control algorithm are effective, and the robot can achieve the expected motion. The RMSE of the row, pitch, and yaw angle was reduced by 35%, 25%, and 12%, respectively, using the “increasing duty factor” strategy, and the yaw angle was limited in the range −3°~3° using the yaw angle correction algorithm. Finally, the comparison with related works and the limitations are discussed.

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Section: Foot Trajectory Planningmentioning

confidence: 99%

Straight Gait Research of a Small Electric Hexapod Robot

et al. 2021

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“…The first uses the accurate information of dynamical parameters to generate walking patterns. Joint angle trajectories [ 10 , 11 , 12 , 13 , 14 ] or trajectories of some key parts [ 15 , 16 , 17 , 18 ], e.g., hip and/or feet, are usually fitted by spline or polynomial functions, then the coefficients of spline or polynomial functions are determined by parameter optimization technique. However, these gait-planning methods need a lot of computation and cannot meet the requirement of trajectory planning in real time.…”

Section: Introductionmentioning

confidence: 99%

Trajectory Planning of Flexible Walking for Biped Robots Using Linear Inverted Pendulum Model and Linear Pendulum Model

Xie

Luo

et al. 2021

Sensors

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Linear inverted pendulum model (LIPM) is an effective and widely used simplified model for biped robots. However, LIPM includes only the single support phase (SSP) and ignores the double support phase (DSP). In this situation, the acceleration of the center of mass (CoM) is discontinuous at the moment of leg exchange, leading to a negative impact on walking stability. If the DSP is added to the walking cycle, the acceleration of the CoM will be smoother and the walking stability of the biped will be improved. In this paper, a linear pendulum model (LPM) for the DSP is proposed, which is similar to LIPM for the SSP. LPM has similar characteristics to LIPM. The dynamic equation of LPM is also linear, and its analytical solution can be obtained. This study also proposes different trajectory-planning methods for different situations, such as periodic walking, adjusting walking speed, disturbed state recovery, and walking terrain-blind. These methods have less computation and can plan trajectory in real time. Simulation results verify the effectiveness of proposed methods and that the biped robot can walk stably and flexibly when combining LIPM and LPM.

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“…9 A variety of approaches to ameliorate the walking ability on many different and previously unknown terrains such as slippery surfaces 24 have been taken into account. Some authors have defined foot trajectories always level to the ground 25 that is undesirable from the viewpoint of natural human locomotion. In fact, the robot cannot touch the ground by the heel of the front foot and leave the ground by the toe of the rear foot.…”

Section: Introductionmentioning

confidence: 99%

“…30 A GAbased method is presented to generate trajectories of a humanoid robot named NUSBIP-II while desired ZMP trajectory considered to be fixed during SSP. 25 A hierarchical trajectory generation method that is proposed in Kanehiro et al 31 consists of two layers, one is the GA level for minimizing the total energy consumption of all actuators and the other is the evolutionary programming layer for optimizing the interpolated configuration of biped locomotion robots. This study aimed at developing a multi-objective GA-based trajectory generation technique to overcome diverging and the problem of getting stuck in the local minima.…”

Section: Introductionmentioning

confidence: 99%

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Development of multi-phase dynamic equations for a seven-link biped robot with improved foot rotation in the double support phase

Farzadpour

Danesh

Torklarki

2014

Proceedings of the Institution of Mechanical Engineers, Part C:

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Gait generation plays a significant role in the quality of locomotion of legged robots. This paper presents the development of multi-phase dynamic equations and optimal trajectory generation for a seven-link planar-biped robot walking on the ground level with consideration of feet rotation in the double support phase. The main contribution of this paper is to increase the stability margin at the phase transition time for simultaneous feet rotation in double support phase by introducing a new style of feet rotation. First, the derivation of the dynamics equations, which is a challenging problem due to the existence of the holonomic constraints, is performed using the Lagrangian formulation. Then, an analytical solution to inverse kinematics is proposed to determine the angles of each joint. A multi-objective genetic algorithm-based optimization technique is proposed to obtain the key parameters in trajectory generation so that the zero moment point tracks a predefined stable trajectory and additionally minimizes the power consumption, which is subjected to actuators’ powers limitations. The effect of the hip height on the total power consumption is also investigated. The numerical simulations demonstrate the effectiveness of the proposed method.

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Optimal trajectory generation for bipedal robots

Cited by 11 publications

References 16 publications

Straight Gait Research of a Small Electric Hexapod Robot

Straight Gait Research of a Small Electric Hexapod Robot

Trajectory Planning of Flexible Walking for Biped Robots Using Linear Inverted Pendulum Model and Linear Pendulum Model

Development of multi-phase dynamic equations for a seven-link biped robot with improved foot rotation in the double support phase

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