Real-time gait planning for Rh-1 humanoid robot, using Local Axis Gait algorithm

Arbulú, Mario; Balaguer, Carlos

doi:10.1109/ichr.2007.4813927

Cited by 13 publications

(5 citation statements)

References 7 publications

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“…At first, the 2D inverted pendulum model will be detailed, for introducing pendulum laws; next the 3D version is developed; after that, the Cart-table model will be introduced and its advantages with respect to the inverted pendulum are explained; next, the walking pattern strategy is proposed with the "Local Axis Gait" (Fig. 18) algorithm, (Arbulu et. al.…”

Section: Walking Pattern Generationmentioning

confidence: 99%

“…In order to generalize the walking patterns of any direction and surface such as stairs or slopes; the "Local Axis Algorithm" (LAG) is proposed, (Arbulu et al 2007) so as to plan the stable local walking motion. The LAG is divided into several stages: computation of the footprints; the decision of the ZMP limits around the footprints; the dynamic humanoid COG motion generation based on the mass concentrated model; and finally joining the footprints of the swing foot by splines.…”

Section: Local Axis Gait Algorithm (Lag)mentioning

confidence: 99%

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Climbing and Walking Robots

Tokhi¹,

Virk²

2006

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Nowadays robotics is one of the most dynamic fields of scientific researches. The shift of robotics researches from manufacturing to services applications is clear. During the last decades interest in studying climbing and walking robots has been increased. This increasing interest has been in many areas that most important ones of them are: mechanics, electronics, medical engineering, cybernetics, controls, and computers. Today's climbing and walking robots are a combination of manipulative, perceptive, communicative, and cognitive abilities and they are capable of performing many tasks in industrial and nonindustrial environments. Surveillance, planetary exploration, emergence rescue operations, reconnaissance, petrochemical applications, construction, entertainment, personal services, intervention in severe environments, transportation, medical and etc are some applications from a very diverse application fields of climbing and walking robots. By great progress in this area of robotics it is anticipated that next generation climbing and walking robots will enhance lives and will change the way the human works, thinks and makes decisions. This book presents the state of the art achievments, recent developments, applications and future challenges of climbing and walking robots. These are presented in 26 chapters by authors throughtot the world. The book serves as a reference especially for the researchers who are interested in mobile robots. It also is useful for industrial engineers and graduate students in advanced study.

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Section: Walking Pattern Generationmentioning

confidence: 99%

Section: Local Axis Gait Algorithm (Lag)mentioning

confidence: 99%

Climbing and Walking Robots

Tokhi¹,

Virk²

2006

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“…In order to provide effective walking assistance, joint trajectory generation of LEEs has been studied. In the field of bipedal walking, many researchers have investigated on trajectory generation, such as in the humanoid robots [11], [12] and in LEEs developed for gait rehabilitation [13], [14].…”

Section: Introductionmentioning

confidence: 99%

Reference Joint Trajectories Generation of CUHK-EXO Exoskeleton for System Balance in Walking Assistance

et al. 2019

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This paper introduces a wearable exoskeleton suit CUHK-EXO that can help paraplegic patients regain their mobility to stand up, sit down, and walk. An offline design and online modification (ODOM) algorithm is proposed for the exoskeleton to generate reference joint trajectories during walking assistance. First, reference trajectories of CUHK-EXO are designed offline based on motion capture data considering leg geometry constraints. Then the human-exoskeleton system (HES) including a pair of crutches is modeled as an eight-link system for analysis. Since the relative position of system center of pressure (COP) is an important factor to indicate system balance during walking, it is estimated in real-time and monitored for exoskeleton control. Based on the system COP position, this paper further proposes the reference trajectories online modification method for CUHK-EXO to counteract disturbances applied to the HES, and hence stabilize system balance in the walking assistance. Finally, walking tests are performed in both healthy subjects and a paraplegic patient to validate the effectiveness of the proposed ODOM algorithm. Testing results demonstrate that knowing the COP desired areas of the wearer, the exoskeleton CUHK-EXO can counteract perturbations and decrease the wearer's efforts, so as to maintain system balance with the ODOM algorithm.

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“…Furthermore, prior to walking pattern generation, robot joint constraints, dynamic parameters (velocities, accelerations, etc. ), and joint torques [ 5 ] have to be observed in real time so as not to overload the system and make the walking task viable.…”

Section: Introductionmentioning

confidence: 99%

Experimental Robot Model Adjustments Based on Force–Torque Sensor Information

Martínez

García-Haro

Victores

et al. 2018

Sensors

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The computational complexity of humanoid robot balance control is reduced through the application of simplified kinematics and dynamics models. However, these simplifications lead to the introduction of errors that add to other inherent electro-mechanic inaccuracies and affect the robotic system. Linear control systems deal with these inaccuracies if they operate around a specific working point but are less precise if they do not. This work presents a model improvement based on the Linear Inverted Pendulum Model (LIPM) to be applied in a non-linear control system. The aim is to minimize the control error and reduce robot oscillations for multiple working points. The new model, named the Dynamic LIPM (DLIPM), is used to plan the robot behavior with respect to changes in the balance status denoted by the zero moment point (ZMP). Thanks to the use of information from force–torque sensors, an experimental procedure has been applied to characterize the inaccuracies and introduce them into the new model. The experiments consist of balance perturbations similar to those of push-recovery trials, in which step-shaped ZMP variations are produced. The results show that the responses of the robot with respect to balance perturbations are more precise and the mechanical oscillations are reduced without comprising robot dynamics.

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Real-time gait planning for Rh-1 humanoid robot, using Local Axis Gait algorithm

Cited by 13 publications

References 7 publications

Climbing and Walking Robots

Climbing and Walking Robots

Reference Joint Trajectories Generation of CUHK-EXO Exoskeleton for System Balance in Walking Assistance

Experimental Robot Model Adjustments Based on Force–Torque Sensor Information

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