The Mechanism of Yaw Torque Compensation in the Human and Motion Design for Humanoid Robots

Stable walking of bipedal humanoid is an crucial and challenge issue of research in bipedal robots. And the structure of shoe sole plays a significant role in preventing someone from slipping in human life. The humanoid robot foot often skid while the robot is walking fast, and it may cause serious harmfulness. This study presents some foot pads for humanoid robot to improve its stability and reliability. First, anti-skid foot for a humanoid robot is proposed in this paper. Second, the material and pattern of foot pads are selected. Finally, the better foot pads are chosen by several experiments and the effectiveness of the new foot pads is confirmed by comparison experiments.

show abstract

“…The rotation of the waist can compensate about 10-30% of the yaw torque, and the arm motion can compensate about 20-50% of the yaw torque [16].…”

Section: Analysis Of Human Motionmentioning

confidence: 99%

“…In this study, we designed a new foot pad for our humanoid robot BHR-5 [13]- [15]. By comparing different foot pads, the effective pad was selected for the next generation humanoid robot.…”

Section: Introductionmentioning

confidence: 99%

Anti-skid foot design for a humanoid robot

She

Zhang

Huang

2014

2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014)

Self Cite

View full text Add to dashboard Cite

show abstract

“…Previous work for arm-swing has proposed several types of arm-swing strategies: compensation of swing-leg's moments, stabilization of the robot's posture, driving force to walk, use of yaw moment to rotate hip joints, etc. [9]- [12]. Although [9], [10] improved stability and [11], [12] improved efficiency, these arm-swing strategies cannot be applied at the same time or the use of them is not always required.…”

Section: Introductionmentioning

confidence: 99%

“…[9]- [12]. Although [9], [10] improved stability and [11], [12] improved efficiency, these arm-swing strategies cannot be applied at the same time or the use of them is not always required. For instance, stabilizing and earning the driving force by an arm-swing are not always required since the support leg can basically track the reference COG.…”

Section: Introductionmentioning

confidence: 99%

Optimal use of arm-swing for bipedal walking control

Kobayashi

Sekiyama

Aoyama

et al. 2015

2015 IEEE International Conference on Robotics and Automation (ICRA)

View full text Add to dashboard Cite

Walking capability composed of stability and efficiency is one of the most important issues in the field of humanoid robots. An effective swing of the arms is expected to enhance the walking capability under the constraints from the limited body. We propose an arm-swing method to enhance the stability and efficiency by selecting optimal arm-swing strategy depending on the walking conditions. In this research, we select the optimal strategy between the support of the center of gravity (COG) tracking for stability and the walk without arm-swing for efficiency. To support the COG tracking, we employ a predictive control. States are defined as an inverted pendulum model and inputs are given as an inertial force of arm-swing. Input and output weights in the predictive control are adjustable by a support weight introduced in this paper. Selection of the optimal support weight by a selection algorithm for locomotion (Su-SAL) switches the two strategies by adjusting the ratio of input and output (I/O) weights. Su-SAL maximizes the efficiency while keeping the stability in comparison with the case of the constant support weight.

show abstract

“…After that the balance of dynamic walking is improved by considering the upper body dynamics, i.e. the yaw moment is suppressed by swinging robot arms in the sagittal plane [27]. Second, contact motion control, in which a humanoid robot starts to contact and pushes an unknown object, is considered.…”

Section: Whole Body Motion Control Of a Humanoid Robot In Unstructurementioning

confidence: 99%

Whole body motion control of humanoid robots using bilateral control

Sarıyıldız¹,

Temeltaş²

2017

Turk J Elec Eng & Comp Sci

View full text Add to dashboard Cite

This paper deals with the whole body motion control problem of humanoid robots by using automatic and bilateral control methods. Advanced motion controllers are proposed so that human daily life activities, such as walking on an uneven terrain and contacting an unknown object, can be performed. It is shown that the uncertainty of environmental impedance variation is one of the main challenging issues in the design of the automatic control systems, i.e. a humanoid robot may easily lose its stability when it contacts an unstructured environment. A novel bilateral control method is proposed for humanoid robots so as to overcome the environmental uncertainty problem. It is shown that more dexterous and versatile tasks can be easily performed by transforming the skills of humans to humanoid robots in the proposed bilateral control system. A disturbance observer is used not only to achieve the robustness of the motion control system but also to perform sensorless contact motion control tasks. The performance of sensorless contact force estimation is significantly improved by deriving the exact dynamic model of humanoid robots. A floating point base exact dynamic model is derived by using the extended Newton-Euler algorithm. A new robot simulator is designed by using the proposed dynamic model and the Virtual Reality toolbox of MATLAB. Simulation results are given to show the validity of the proposals.

show abstract

The Mechanism of Yaw Torque Compensation in the Human and Motion Design for Humanoid Robots

Cited by 19 publications

References 18 publications

Anti-skid foot design for a humanoid robot

Anti-skid foot design for a humanoid robot

Optimal use of arm-swing for bipedal walking control

Whole body motion control of humanoid robots using bilateral control

Contact Info

Product

Resources

About