Robust Walking for Humanoid Robot Based on Divergent Component of Motion

Zhang, Zhao; Zhang, Lei; Shan, Xin; Xu, Wen

doi:10.3390/mi13071095

Cited by 6 publications

(5 citation statements)

References 59 publications

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“…There are generally three ways to plan the gait of a bipedal robot walking: offline planning, online planning, and online correction after offline planning [ 8 , 9 , 10 ]. Offline planning is based on the motion requirements of robots, which involves planning the motion trajectories of each joint in advance and is easy to implement.…”

Section: Introductionmentioning

confidence: 99%

Research on Walking Gait Planning and Simulation of a Novel Hybrid Biped Robot

Sun

Mao

et al. 2023

Biomimetics

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A kinematics analysis of a new hybrid mechanical leg suitable for bipedal robots was carried out and the gait of the robot walking on flat ground was planned. Firstly, the kinematics of the hybrid mechanical leg were analyzed and the applicable relevant models were established. Secondly, based on the preliminary motion requirements, the inverted pendulum model was used to divide the robot walking into three stages for gait planning: mid-step, start and stop. In the three stages of robot walking, the forward and lateral robot centroid motion trajectories and the swinging leg joint trajectories were calculated. Finally, dynamic simulation software was used to simulate the virtual prototype of the robot, achieving its stable walking on flat ground in the virtual environment, and verifying the feasibility of the mechanism design and gait planning. This study provides a reference for the gait planning of hybrid mechanical legged bipedal robots and lays the foundation for further research on the robots involved in this thesis.

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Section: Introductionmentioning

confidence: 99%

Research on Walking Gait Planning and Simulation of a Novel Hybrid Biped Robot

Sun

Mao

et al. 2023

Biomimetics

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“…According to the LIP kinetic model, a specific contact point can be calculated to stop bipedal movement, at which the system’s kinetic energy equals 0. The feet are completely still, which is called caption point (CP) or the divergent component of motion [ 28 ]. According to the definition of the DCM, we can obtain the following Formula ( 17 ):

…”

Section: Control Principlementioning

confidence: 99%

“…The relationship between the motion divergence component ξ and the footstep coordinates u is divergent, as described by (28). To constrain this divergence relationship, we set the last step's footstep coordinates to be equal to ξ, resulting in an error of 0 between ξ and u.…”

Section: Forward Walkingmentioning

confidence: 99%

Design, Control, and Validation of a Symmetrical Hip and Straight-Legged Vertically-Compliant Bipedal Robot

Tang,

Zhu,

Gan

et al. 2023

Biomimetics

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This paper presents the development, modeling, and control of L03, an underactuated 3D bipedal robot with symmetrical hips and straight legs. This innovative design requires only five actuators, two for the legs and three for the hips. This paper is divided into three parts: (1) mechanism design and kinematic analysis; (2) trajectory planning for the center of mass and foot landing points based on the Divergent Component of Motion (DCM), enabling lateral and forward walking capabilities for the robot; and (3) gait stability analysis through prototype experiments. The primary focus of this study is to explore the application of underactuated symmetrical designs and determine the number of motors required to achieve omnidirectional movement of a bipedal robot. Our simulation and experimental results demonstrate that L03 achieves simple walking with a stable and consistent gait. Due to its lightweight construction, low leg inertia, and straight-legged design, L03 can achieve ground perception and gentle ground contact without the need for force sensors. Compared to existing bipedal robots, L03 closely adheres to the characteristics of the linear inverted pendulum model, making it an invaluable platform for future algorithm research.

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“…By solving this equation analytically, the CoM trajectory with the ZMP of interest can be calculated quickly. One of the control methods applied is linear-quadratic optimal control to find the COM path that tracks the ZMP reference and is often used to create a walking trajectory for humanoid robots [8,10,26,32,34,35].…”

Section: Zmp (Zero Moment Point) Trajectorymentioning

confidence: 99%

“…Designing a walking motion for a humanoid robot is a complex challenge. Many researchers have defined the walking motion using various approaches, one of which is the Linear Inverted Pendulum model [6][7][8][9][10]. Although this model is efficient for obtaining walking motion, the resulting gait is not very human-like.…”

Section: Introductionmentioning

confidence: 99%

Optimization of Humanoid Robot Leg Movement Using Open CM 9.04

Wajiansyah

Malani

Supriadi

et al. 2022

Journal of Robotics and Control

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The Indonesian Robot Dance Contest (KRSTI) is a branch of the Indonesian Robot Contest (KRI) with the theme of dance. The robot used is a humanoid robot that can dance. Every year at the event, the provisions for robots constantly change, both the type of dance being demonstrated and the requirements for the robot's height. The taller the robot, the more difficult it is to control its walking movements because of the load it carries. This study uses a suitable algorithm to make the walking movement more natural and minimize the robot's falling. Human ROM data is used as a parameter for the range of motion of the servos that act as joints in the robot's legs. The algorithm created serves to determine the initial position of the angle on the servo to avoid the wrong initial movement position between one servo and another. The robot used is the Bioloid Robot’s leg Type A and uses OpenCM 9.04-A as the controller. The results showed that ROM on human feet could not be fully implemented on robot legs due to the robot's structure and the need for a robot that only relies on an algorithm to find the correct fulcrum to maintain balance. The comparison results show that the movement when walking on the ankle (ID servo 15) ranges from 749-567, while the ROM range is only between 580-512. When walking (servo ID 16), movement ranges from 460-291, while the ROM range ranges from 580-512.

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Robust Walking for Humanoid Robot Based on Divergent Component of Motion

Cited by 6 publications

References 59 publications

Research on Walking Gait Planning and Simulation of a Novel Hybrid Biped Robot

Research on Walking Gait Planning and Simulation of a Novel Hybrid Biped Robot

Design, Control, and Validation of a Symmetrical Hip and Straight-Legged Vertically-Compliant Bipedal Robot

Optimization of Humanoid Robot Leg Movement Using Open CM 9.04

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