Posture/Walking Control for Humanoid Robot Based on Kinematic Resolution of CoM Jacobian With Embedded Motion

Choi, Youngjin; Kim, Doik; Oh, Yonghwan; You, Bum-Jae

doi:10.1109/tro.2007.904907

Cited by 118 publications

(16 citation statements)

References 10 publications

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“…Equation (A2) was originally suggested by Choi in [16] and extended in [17], while (A3) and (A4) are basically a proportional-derivative feedback with a feedforward contribution.…”

Section: Discussionmentioning

confidence: 99%

“…As this requires a certain degree of anticipation, usually it is achieved by tracking some special pre-computed references of the COG (preview control [15]). Choi in [16] showed that a closed loop feedback from the measures of COG and ZMP position is able to track a preview reference signal. This feedback has been improved in [17] by introducing in the loop a state estimator of COG − ZMP, extended to external disturbance forces.…”

Section: Balancementioning

confidence: 99%

“…For this, the concept of tutoring-cooperation-coordination is introduced, where some of the elemental postural tasks, under the control of the patient, and the complementary tasks, under the automatic postural loop, can be completely decupled. This is a variant of whole body coordination (WBC) discussed in [16] and introduced in [23]. Tutoring means that all tasks are performed fully automatically, without intervention of the patient that is completely tutored, it is equivalent to the WBC.…”

Section: A Haptic Exoskeletonmentioning

confidence: 99%

“…Consider the building block diagram Figure A2. It implements Equation (16), and shows the generation of theθ re f with both autonomous control and patient's contribution. With block diagram manipulations advance the patient's contributionθ p before J −1 from joint to Cartesian space.…”

Section: Conflicts Of Interestmentioning

confidence: 99%

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Control of the Sit-To-Stand Transfer of a Biped Robotic Device for Postural Rehabilitation

Menga

Ghirardi

2019

Robotics

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This paper deals with the control of the sit-to-stand transfer of a biped robotic device (either an autonomous biped robot or a haptic assistive exoskeleton for postural rehabilitation). The control has been synthesized, instead of considering the physiology, analyzing the basic laws of dynamics. The transfer of a human from sitting on a chair to an erect posture is an interesting case study, because it treats biped balance in a two-phase dynamic setting, with an external force disturbance (the chair–pelvis contact) affecting the center of pressure under the feet. At the beginning, a body is sitting, with a fixed pelvis moving with the hips going toward the supporting feet and, contemporaneously, releasing the load from the chair with ankles and knee torques. Then, after lift-off, it reaches and maintains an erect posture. The paper objectives are threefold: identifying the major dynamical determinants of the exercise; sythesizing an automatic control for an autonomous device; proposing an innovative approach for the rehabilitation process with an exoskeleton. For this last objective, the paper extends the idea of the authors of a haptic exoskeleton for rehabilitation. It is driven to control the joints by electromiographical signals from the patient. The two spaces, cartesian (world) and joint, where, respectively, the automatic control and the patient operate, are considered and a technique to blend the two actions is proposed. The exoskeleton is programed to perform the exercise autonomously. Then, during the evolution of the phases of rehabilitation, we postulated to seamlessly move the control from one space (purely autonomous) to another (completely driven by the patient), choosing and keeping the postural tasks and joints (heaps, knees, or ankles) on which to apply each one of the two actions without interaction.

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“…Equation (A2) was originally suggested by Choi in [16] and extended in [17], while (A3) and (A4) are basically a proportional-derivative feedback with a feedforward contribution.…”

Section: Discussionmentioning

confidence: 99%

Section: Balancementioning

confidence: 99%

Section: A Haptic Exoskeletonmentioning

confidence: 99%

Section: Conflicts Of Interestmentioning

confidence: 99%

See 2 more Smart Citations

Control of the Sit-To-Stand Transfer of a Biped Robotic Device for Postural Rehabilitation

Menga

Ghirardi

2019

Robotics

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“…A solution to track the preview trajectories in closed loop was successively proposed by Choi [3]. The preview COG − ZMP trajectories during rectilinear gait were reviewed, and a closed-loop strategy was devised and proven, using Lyapunov techniques, to guarantee closed-loop stability and a bounded error tracking of the COG and ZMP preview references.…”

Section: Introductionmentioning

confidence: 99%

Estimation and Closed-Loop Control of COG/ZMP in Biped Devices Blending CoP Measures and Kinematic Information

Menga

Ghirardi

2019

Robotics

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The zero moment point ( Z M P ) and the linearized inverted pendulum model linking the Z M P to the center of gravity ( C O G ) have an important role in the control of the postural equilibrium (balance) of biped robots and lower-limb exoskeletons. A solution for balance real time control, closing the loop from the joint actual values of the C O G and Z M P , has been proposed by Choi. However, this approach cannot be practically implemented: While the Z M P actual value is available from the center of pressure ( C o P ) measured under the feet soles, the C O G is not measurable, but it can only be indirectly assessed from the joint-angle measures, the knowledge of the kinematics, and the usually poorly known weight distribution of the links of the chain. Finally, the possible presence of unknown external disturbance forces and the nonlinear, complex nature of the kinematics perturb the simple relationship between the Z M P and C O G in the linearized model. The aim of this paper is to offer, starting from Choi’s model, a practical implementation of closed-loop balance control fusing C o P and joint-angle measures, eliminating possible inconsistencies. In order to achieve this result, we introduce a model of the linearized inverted pendulum for an extended estimation, not only of C O G and Z M P , but also of external disturbances. This model is then used, instead of Choi’s equations, for estimation and balance control, using H ∞ theory. As the C O G information is recovered from the joint-angle measures, the identification of a statistically equivalent serial chain ( S E S C ) linking the C O G to the joint angles is also discussed.

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A Reactive Planning and Control Framework for Humanoid Robot Locomotion

Qiao,

Liu,

et al. 2024

Advanced Intelligent Systems

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This article presents a reactive planning and control framework to enhance the robustness of humanoid robots locomotion against external disturbances. The framework comprises two main modules, reactive planning and motion optimization. In the reactive planning module, a reactive footstep compensation strategy based on the essential motion of the linear inverted pendulum model (LIPM) is proposed. This strategy leverages the periodic motion characteristics of the LIPM, deriving the correct footstep compensation based on the conditions for model stability restoration. The module generates the zero moment point planning trajectories based on the footstep compensation. In the motion optimization module, motion optimization based on reactive planning is performed. To make motion constraint based on capture point applicable to motion optimization, the impact of different truncation points on stability constraints to determine the appropriate truncation point is quantified. The effectiveness of the proposed framework is demonstrated through experiments conducted on the humanoid robot UBTECH Walker2.

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Posture/Walking Control for Humanoid Robot Based on Kinematic Resolution of CoM Jacobian With Embedded Motion

Cited by 118 publications

References 10 publications

Control of the Sit-To-Stand Transfer of a Biped Robotic Device for Postural Rehabilitation

Control of the Sit-To-Stand Transfer of a Biped Robotic Device for Postural Rehabilitation

Estimation and Closed-Loop Control of COG/ZMP in Biped Devices Blending CoP Measures and Kinematic Information

A Reactive Planning and Control Framework for Humanoid Robot Locomotion

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