Turning Gait Planning Method for Humanoid Robots

Abstract

The most important feature of this paper is to transform the complex motion of robot turning into a simple translational motion, thus simplifying the dynamic model. Compared with the method that generates a center of mass (COM) trajectory directly by the inverted pendulum model, this method is more precise. The non-inertial reference is introduced in the turning walk. This method can translate the turning walk into a straight-line walk when the inertial forces act on the robot. The dynamics of the robot model, called linear inverted pendulum (LIP), are changed and improved dynamics are derived to make them apply to the turning walk model. Then, we expend the new LIP model and control the zero moment point (ZMP) to guarantee the stability of the unstable parts of this model in order to generate a stable COM trajectory. We present simulation results for the improved LIP dynamics and verify the stability of the robot turning.

Intercontinental Bilateral-by-Phases Teleoperation of a Humanoid Robot

“…Las referencias para los ángulos de rodillas y caderas se encuentran usando cinemática inversa calculada a partir de una trayectoria cartesiana generada con datos de altura de elevación del pie y ancho del paso, los cuales son usados para interpolar una forma de paso para distintos rangos de velocidad de avance y tiempos de ciclo de caminata. Las referencias para los ángulos de los tobillos se obtienen considerando que el torso debe mantenerse siempre perpendicular al suelo usando la [Ecuación (15), [11]]. Por lo tanto, las referencias son: y 2 (t) = q p nsa q p sa q p nsk q p sk q p nsh q p sh T , mientras que: y r,2 (t) = [qp nsar qp sar q p nskr q p skr q p nshr q p shr ] T son los ángulos reales del plano sagital.…”

Delayed Teleoperation with Force Feedback of a Humanoid Robot

“…As described in the literature, the P+d controllers are simple structures that have adequate performance in practice for bilateral teleoperation systems of manipulator robots [23,31] as well as bilateral teleoperation of mobile robots [32,33] , where a sufficiently high value of damping is injected to assure the stability of the delayed system. The bilateral loop is formed by force feedback applied to the master of locomotion and master of manipulation .…”

Special Feature on Advanced Mobile Robotics

“…Gil et al [37] showed a reinforcement learning mechanism to handle stability and efficiency of movement, thus improving speed and precision of the trajectory. Yang et al [38] showed an interesting work to transform the complex motion of robot turning into a simple translational motion. The inertial forces can be analyzed for the turning walk of humanoid robots.…”