Trajectory generation and dynamic control of planar biped robots with curved soles

2015 15th International Conference on Control, Automation and Systems (ICCAS)

2015

In this paper, a method for a biped robot to run with a velocity change by selecting its foot landing position appropriately is proposed. The zero moment point (ZMP) is used as the criteria to identify the stability of the biped robot. The ZMP is estimated by the position of the center of mass (COM) and the acceleration of the robot. This means that by setting an appropriate ZMP for the robot, the acceleration of the robot can be controlled. In this paper, ZMP is not only used for stability criteria, but also used to change the velocity in running. The ZMP is designed to reach the desired velocity of the robot, and the trajectory to change the running velocity is generated made the assumption that the ZMP is the foot landing position. By using the method, the biped robot can run stably while changing its velocity. The performance of the proposed method was verified by computer simulations.

Section: Introductionmentioning

confidence: 99%

Foot placement method to change velocity of running biped robot

Jang

Cho

2015 15th International Conference on Control, Automation and Systems (ICCAS)

2015

“…Various walking-pattern-generation algorithms have been developed for biped robots to walk stably not only on a flat floor but also on uneven terrain [1][2][3][4][5]. In many algorithms, it is assumed that each of the legs of a biped robot has six degrees of freedom (DOFs).…”

Section: Introductionmentioning

confidence: 99%

Variable walking trajectory generation method for biped robots based on redundancy analysis

Yeon

2014

J Mech Sci Technol

Self Cite

This paper proposes a variable walking trajectory generation method for biped robots based on redundancy analysis. In designing a bipedal trajectory for locomotion, maintaining locomotion stability without falling down and natural patterns of the locomotion are important. First, the positions and orientations of the feet and body of a robot are chosen as the reference factors, whose trajectories are predetermined. The augmented Jacobian method is used at the acceleration level with differential equation of the reference factors and the ZMP equation to secure stable walking motions. A virtual spring-damper system is implemented as an additional task in the null-space of the augmented Jacobian to make a balanced cyclic configuration of the robot. For a more stable trajectory generation, the condition to avoid kinematic singularity is also used. Computer simulations were conducted for various situations, for example, with locomotion speed changes or an asymmetrical mass distribution, which showed that the proposed trajectory generation method was very effective in generating various walking motions for biped robots.

“…One category of the researches is a method to generate a trajectory that makes the zero moment point (ZMP) be located in the range of a sole, baled on a single weight model called linear inverted pendulum model (LIPM) or a 2-mass model called gravity compensated inverted pendulum model (GCIPM) robot [1,2]. The ZMP can be fixed or changed during one foot is on the ground to support the weight of the robot [3,4].…”

Section: Introductionmentioning

confidence: 99%

Running of Biped Robots with Variable Speed

Cho

Yeon

Modelling and Simulation / 804: Signal and Image Processing

2013

Self Cite

In this paper, a trajectory generation method that changes the running speed of a biped robot with appropriate selection of a foot placement is proposed. An acceleration of the center of mass of a biped robot is associated with the relative position of the zero moment point to the center of mass. It means that the acceleration of the robot can be controlled by changing a position of the zero moment point. In this paper, a biped robot changes the speed by changing the zero moment point based on the desired speed. The effectiveness in the performance of the proposed method are shown in computer simulations with a 3D biped robot.