Study of dynamic biped locomotion on rugged terrain-derivation and application of the linear inverted pendulum mode

Kajita, S.; Tani, Kazuo

doi:10.1109/robot.1991.131811

Cited by 324 publications

(188 citation statements)

References 11 publications

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“…To push the character upright a force is exerted on a character's mass from the center of the foot that is in contact with the ground. As demonstrated in [30,31], the character's mass is concentrated into a single point (center of mass (CoM)) for the required calculations. To encourage a more natural motion a spring may be associated with the balancing leg [32,33].…”

Section: Inverted Pendulummentioning

confidence: 99%

Dynamic Balancing and Walking for Real-Time 3D Characters

2011

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Fig. 1. Predictive stepping and posture correction due to random force disturbances being applied to the body.Abstract. This paper describes the real-time modeling of 3D skeletal motion with balancing properties. Our goal is to mimic human responsiveness when external forces are applied to the model. To achieve this we use an inverted pendulum as a basis for achieving a self-balancing model. We demonstrate responsiveness in stepping and posture control via a simplified biped skeletal model using our technique.

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Section: Inverted Pendulummentioning

confidence: 99%

Dynamic Balancing and Walking for Real-Time 3D Characters

2011

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“…An efficacy of a controller design scheme for a biped robot based on the center of mass (COM) [1][2][3][4][5][6] has been acknowledged. COM captures the core dynamics in the whole body motion, so that it enables an intuitive design of the controller with low computation cost.…”

Section: Introductionmentioning

confidence: 99%

“…A crucial issue in the scheme is the motion (position and velocity) estimation of COM, since it is embedded in a feedback loop and has a large influence to the controller performance. For example, some biped robot controllers [1][2][3][4][5][6] and on-line walking motion planners [7,8] that use the current position and velocity of COM have been proposed. COM is a point defined from the mass distribution and the whole-body configuration of the robot, and cannot be directly measured.…”

Section: Introductionmentioning

confidence: 99%

COM motion estimation of a biped robot based on kinodynamics and torque equilibrium

Masuya

Sugihara

2016

Advanced Robotics

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A novel technique to estimate motion of the center of mass (COM) for a biped robot is proposed. A Kalman filter is synthesized where the time evolution of COM is predicted from the external force and corrected based on kinematic estimation and torque equilibrium. They complementarily work to compensate the initial estimation offset, the error accumulation, and errors in modeled mass properties. It makes use of the authors' previous method to estimate the translational and rotational motion of the base body from inertial information and joint angle measurements. The information about torque equilibrium helps to reduce an uncertainty of the height of COM and to improve the estimation accuracy of it by utilizing an interference of the horizontal and vertical motion of COM. The parameters are tuned based on error analyses in mass properties and sensor signals. A comparative study showed a better performance of the proposed method than other methods through dynamics simulations. ARTICLE HISTORY

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“…During toe-off in human walking and in walking of the robot Spring Flamingo [23], the ZMP stability criterion is violated, the FRI point lies outside the foot, and the foot rotates. For bipeds with point feet [11,24,5,31], and Passive Dynamic Walkers with curved feet, when on one support foot, the ZMP, FRI, and CoP have little value as they are all simply the location of the foot, and the ZMP criterion is always violated. Maintaining the ZMP inside the support polygon is also not a sufficient condition for stable walking since a biped can fall down while its ZMP remains in the center of its foot.…”

Section: Zero Moment Point (Zmp) and Foot Rotation Indicator (Fri)mentioning

confidence: 99%

“…Solving for r c we get This model assumes that the leg length stays constant as the Center of Mass follows an arc, coming to rest above the Capture Point. Another model, referred to as the Linear Inverted Pendulum model [11,12], assumes that the Center of Mass height stays constant (Figure 2 -right side). Using this method to compute the location of a Capture Point results in an even simpler equation.…”

Section: Estimating One-step Capture Pointsmentioning

confidence: 99%

Velocity-Based Stability Margins for Fast Bipedal Walking

Pratt

Tedrake²

Lecture Notes in Control and Information Sciences

167

153

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We present velocity-based stability margins for fast bipedal walking that are sufficient conditions for stability, allow comparison between different walking algorithms, are measurable and computable, and are meaningful. While not completely necessary conditions, they are tighter necessary conditions than several previously proposed stability margins. The stability margins we present take into consideration a biped's Center of Mass position and velocity, the reachable region of its swing leg, the time required to swing its swing leg, and the amount of internal angular momentum available for capturing balance. They predict the opportunity for the biped to place its swing leg in such a way that it can continue walking without falling down. We present methods for estimating these stability margins by using simple models of walking such as an inverted pendulum model and the Linear Inverted Pendulum model. We show that by considering the Center of Mass location with respect to the Center of Pressure on the foot, these estimates are easily computable. Finally, we show through simulation experiments on a 12 degree-of-freedom distributed-mass lower-body biped that these estimates are useful for analyzing and controlling bipedal walking. Introduction"How stable is your robot?" is a fundamental yet challenging question to answer, particularly with fast moving legged robots, such as dynamically balanced bipedal walkers. With many traditional control systems, questions of stability and robustness can be answered by eigenvalues, phase margins, loop gain margins, and other stability margins. However, legged robots are nonlinear, under-actuated, combine continuous and discrete dynamics, and do not necessarily have periodic motions. These features make applying traditional stability margins difficult.

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Study of dynamic biped locomotion on rugged terrain-derivation and application of the linear inverted pendulum mode

Cited by 324 publications

References 11 publications

Dynamic Balancing and Walking for Real-Time 3D Characters

Dynamic Balancing and Walking for Real-Time 3D Characters

COM motion estimation of a biped robot based on kinodynamics and torque equilibrium

Velocity-Based Stability Margins for Fast Bipedal Walking

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