Simultaneous Optimization of ZMP and Footsteps Based on the Analytical Solution of Divergent Component of Motion

Kamioka, Takumi; Kaneko, Hiroyuki; Takenaka, Toru; Yoshiike, Takahide

doi:10.1109/icra.2018.8460572

Cited by 30 publications

(19 citation statements)

References 13 publications

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“…Admittance control applied at the CoM has been referred to as ZMP compliance control [9], ZMP damping control [11], position-based ZMP control [12] or horizontal compliance control [23]. It implements the third stabilization strategy from Section 4.5.1 of the Introduction to Humanoid Robotics [28], and should not be confused with the model ZMP control (fifth strategy) applied on Honda robots [2], [3], [5]. The former adds CoM accelerations at all times, the latter only upon saturation of a ZMP constraint.…”

Section: Com Admittance Controlmentioning

confidence: 99%

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Stair Climbing Stabilization of the HRP-4 Humanoid Robot using Whole-body Admittance Control

Caron

Kheddar

Tempier

2019

2019 International Conference on Robotics and Automation (ICRA)

115

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We consider dynamic stair climbing with the HRP-4 humanoid robot as part of an Airbus manufacturing use-case demonstrator. We share experimental knowledge gathered so as to achieve this task, which HRP-4 had never been challenged to before. In particular, we extend walking stabilization based on linear inverted pendulum tracking [1] by quadratic programming-based wrench distribution and a whole-body admittance controller that applies both end-effector and CoM strategies. While existing stabilizers tend to use either one or the other, our experience suggests that the combination of these two approaches improves tracking performance. We demonstrate this solution in an on-site experiment where HRP-4 climbs an industrial staircase with 18.5 cm high steps, and release our walking controller as open source software. 1 Corresponding author: stephane.caron@lirmm.fr 1 https://github.com/stephane-caron/lipm walking controller/ 2 Performance and safety certification requirements are yet to be defined 3 Controllers reported by Honda include the model ZMP control strategy [2], [3] where saturation of ZMP constraints triggers recovery CoM accelerations and a corresponding update of the walking pattern [4], [5]. This integration of a switching control law with replanning behavior makes these controllers more advanced than linear feedback controllers.

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Section: Com Admittance Controlmentioning

confidence: 99%

“…The system was remote-controlled by a human operator, making sure that the ropes stay loose while trying to avoid hitting the robot as it climbs (bonus robustness checks otherwise). 6 5 10 15…”

Section: A Demonstration Environmentmentioning

confidence: 99%

Stair Climbing Stabilization of the HRP-4 Humanoid Robot using Whole-body Admittance Control

Caron

Kheddar

Tempier

2019

2019 International Conference on Robotics and Automation (ICRA)

115

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“…, (5) where p x represents the current ZMP position, t 0 , t f , x 0 , x f are the times and corresponding positions of the COM at the beginning and at the end of a step, respectively. In this paper, we considered T ds = 0 which means p x is constant during single support phase (center of current stance foot position) and it transits to the next step at the end of each step instantaneously [16].…”

Section: Reference Trajectories Planningmentioning

confidence: 99%

“…RELATED WORK Recent advances in humanoid robot locomotion have been based on decoupling COM dynamics into divergent and convergent components. Several kinds of research [2], [3], [4], [5] showed that a robust stable walking could be developed just by controlling the divergent component of motion. In the remainder of this section we briefly review some of these approaches.…”

Section: Introductionmentioning

confidence: 99%

A Robust Biped Locomotion Based on Linear-Quadratic-Gaussian Controller and Divergent Component of Motion

Kasaei

Lau

Pereira

2019

2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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Generating robust locomotion for a humanoid robot in the presence of disturbances is difficult because of its high number of degrees of freedom and its unstable nature. In this paper, we used the concept of Divergent Component of Motion (DCM) and propose an optimal closed-loop controller based on Linear-Quadratic-Gaussian to generate a robust and stable walking for humanoid robots. The biped robot dynamics has been approximated using the Linear Inverted Pendulum Model (LIPM). Moreover, we propose a controller to adjust the landing location of the swing leg to increase the withstanding level of the robot against a severe external push. The performance and also the robustness of the proposed controller is analyzed and verified by performing a set of simulations using MATLAB. The simulation results showed that the proposed controller is capable of providing a robust walking even in the presence of disturbances and in challenging situations.

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“…Inaccurate estimation of the CoM position is easy to cause the zero moment point (ZMP) running out of the support region for bipedal robots [9] [10], and thus, leads to instability. Although quadruped robots have larger stability margin than bipeds in most cases, the model errors introduce heavy disturbances to the locomotion.…”

Section: Introductionmentioning

confidence: 99%

Locomotion Control of Quadruped Robots With Online Center of Mass Adaptation and Payload Identification

Ding

Zhou

et al. 2020

IEEE Access

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Simultaneous Optimization of ZMP and Footsteps Based on the Analytical Solution of Divergent Component of Motion

Cited by 30 publications

References 13 publications

Stair Climbing Stabilization of the HRP-4 Humanoid Robot using Whole-body Admittance Control

Stair Climbing Stabilization of the HRP-4 Humanoid Robot using Whole-body Admittance Control

A Robust Biped Locomotion Based on Linear-Quadratic-Gaussian Controller and Divergent Component of Motion

Locomotion Control of Quadruped Robots With Online Center of Mass Adaptation and Payload Identification

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