Real time motion generation and control for biped robot -2&lt;sup&gt;nd&lt;/sup&gt; report: Running gait pattern generation-

Takenaka, Toru; Matsumoto, Takashi; Yoshiike, Takahide; Shirokura, Shinya

doi:10.1109/iros.2009.5354654

Cited by 119 publications

(29 citation statements)

References 10 publications

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“…CoM angular velocity vector can simply be extracted from (10) as shown in (11). Differentiating CoM angular velocity vector, we can obtain CoM angular acceleration vector as well.…”

Section: A Single Support Phase Motion Planningmentioning

confidence: 99%

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Bipedal walking trajectory generation based on ZMP and Euler's equations of motion

Uğurlu

Kawamura

2010

2010 10th IEEE-RAS International Conference on Humanoid Robots

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This article is aimed at presenting a technique to generate bipedal walking trajectories that can be applied to humanoid robots. The proposed method is based on maintatining the dynamic balance by using the ZMP criterion throughout single support phases. To be able to reach this goal, we employed ZMP equations in spherical coordinates, so that the rate change of intrinsic angular momentum terms in ZMP equations are included naturally by using Euler's equations of motion. Thus, undesired torso angle fluctuations are successfully suppressed comparing to other methods in which intrinsic angular momentum rate changes are ignored or zero-referenced. Applying the aforementioned technique, we firstly performed simulations on a 3-D dynamic simulator. Upon simulations, we conducted walking experiments on the actual robot MARI-3. In conclusion, we obtained dynamically equilibrated and bipedal walking cycles in which torso angles are well suppressed in comparison with the conventional approach.

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“…CoM angular velocity vector can simply be extracted from (10) as shown in (11). Differentiating CoM angular velocity vector, we can obtain CoM angular acceleration vector as well.…”

Section: A Single Support Phase Motion Planningmentioning

confidence: 99%

“…Flywheel based methods also enable researchers to approximate 2 angular momentum computations for bipedal motion planning [10] [11]. However, such methods can represent only one single rotation of the body, usually about the sagittal plane.…”

Section: Introductionmentioning

confidence: 99%

Bipedal walking trajectory generation based on ZMP and Euler's equations of motion

Uğurlu

Kawamura

2010

2010 10th IEEE-RAS International Conference on Humanoid Robots

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“…A fully actuated biped walking robot, in contrast to a passive walking robot [1], uses active actuators in all the joints of the lower body [2][3][4][5][6]. The Wabian-2 (41 degrees of freedom (DoF), size 1.53 m, mass 64.5 kg) was developed at Waseda University [3].…”

Section: Introductionmentioning

confidence: 99%

“…It can run at a maximum speed of 6 km/h. In 2009, Honda published some details of the walking and running capability of ASIMO in [4]. The National Institute of Advanced Industrial Science and Technology (AIST) and B Ill-Woo Park mrquick@kw.ac.kr 1 Kwangwoon University, Seoul, Korea Kawada Industries developed HRP-3, which is 1.61 m tall, has a weight of 68 kg, and has 42 DoF.…”

Section: Introductionmentioning

confidence: 99%

Mechanical and electrical design of a biped humanoid which has multiple motors on each lower body joint

Lee

Park

2015

Intel Serv Robotics

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The design of a biped humanoid that has multiple motors on each lower body joint is described. The joint actuators of the lower body should have high-power performance with compact size for walking while dynamically supporting the entire weight. The authors propose a design method in which multiple motors are installed in a joint. The method can amplify the joint torque and this is verified by experiments involving measurement of the joint angle and the current with respect to the number of motors on a single joint. The mechanical design and control system are explained. The design results are verified from a walking experiment. The proposed design improved the walking performance.

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“…Despite these advances, control of humanoid running remains a sparsely studied problem, with solution methods largely adapted from inverted pendulum methods for walking [5], [6]. Other methods have required intensive hand design [7] or offline optimization [8] and have not shown robustness to disturbances.…”

Section: Introductionmentioning

confidence: 99%

High-speed humanoid running through control with a 3D-SLIP model

Wensing

Orin

2013

2013 IEEE/RSJ International Conference on Intelligent Robots and Systems

135

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This paper presents new methods to control highspeed running in a simulated humanoid robot at speeds of up to 6.5 m/s. We present methods to generate compliant target CoM dynamics through the use of a 3D spring-loaded inverted pendulum (SLIP) template model. A nonlinear leastsquares optimizer is used to find periodic trajectories of the 3D-SLIP offline, while a local deadbeat SLIP controller provides reference CoM dynamics online at real-time rates to correct for tracking errors and disturbances. The local deadbeat controller employs common foot placement strategies that are automatically generated by a local analysis of the 3D-SLIP apex return map. A task-space controller is then applied online to select whole-body joint torques which embed these target dynamics into the humanoid. Despite the body of work on the 2D and 3D-SLIP models, to the best of the authors' knowledge, this is the first time that a SLIP model has been embedded into a whole-body humanoid model. When running at 3.5 m/s, the controller is shown to reject lateral disturbances of 40 N·s applied at the waist. A final demonstration shows the capability of the controller to stabilize running at 6.5 m/s, which is comparable with the speed of an Olympian in the 5000 meter run.

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Real time motion generation and control for biped robot -2<sup>nd</sup> report: Running gait pattern generation-

Cited by 119 publications

References 10 publications

Bipedal walking trajectory generation based on ZMP and Euler's equations of motion

Bipedal walking trajectory generation based on ZMP and Euler's equations of motion

Mechanical and electrical design of a biped humanoid which has multiple motors on each lower body joint

High-speed humanoid running through control with a 3D-SLIP model

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