Walking on gravel with soft soles using linear inverted pendulum tracking and reaction force distribution

Pajon, Adrien; Caron, Stéphane; Magistri, Giovanni De; Miossec, Sylvain; Kheddar, Abderrahmane

doi:10.1109/humanoids.2017.8246909

Cited by 18 publications

(13 citation statements)

References 17 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Through the above simulation and comparative analysis, the following advantages could be achieved with the proposed method, as compared to the other existing methods, 1. Flexibility: The proposed method provides a variety of schemes to deal with the QP problem in the dynamic balance for humanoid robots.…”

Section: Discussionmentioning

confidence: 99%

“…For all of the implementations presented, the model is the LIP with 2-D dynamics given by equation (1). However, the math is generally independent of the model.…”

Section: System Optimization Modelmentioning

confidence: 99%

“…However, owing to the complexities of its hybrid dynamics, the unidirectional constraints on contact forces, as well as the high dimensionality and nonlinearity of robot general dynamics, the robot leg movement is widely regarded to be a difficult problem 1 and various methods have been proposed. [1][2][3][4][5][6][7] Specifically, to address the dynamic balancing problem of humanoid robots, a general method 8,9 is to use a hierarchical structure shown in Figure 1 to control the robot. As illustrated, the bottom layer is a motion control layer, and it is responsible for tracking the planned robot trajectory by utilizing inverse kinematics or inverse dynamics.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Flexible model predictive control based on multivariable online adjustment mechanism for robust gait generation

Dong

Yuan

et al. 2020

International Journal of Advanced Robotic Systems

View full text Add to dashboard Cite

The gait generation algorithm considering both step distance adjustment and step duration adjustment could improve the anti-disturbance ability of the humanoid robot, which is very important to the dynamic balance, but the step duration adjustment often brings non-convex optimization problems. In order to avoid this situation and improve the robustness of the gait generator, a gait generation mechanism based on flexible model predictive control is proposed in this article. Specifically, the step distance adjustment and step duration adjustment are set to be optimization objectives, while the change of pressure center is treated as the optimal input to minimize those objectives. With the current system state being used for online re-optimization, a feedback gait generator is formed to realize the strong stability of variable speed and variable step distance walking of the robot. The main contributions of this work are twofold. First, a gait generation mechanism based on flexible model predictive control is proposed, which avoids the problem of nonlinear optimization. Second, a variety of feasible optimization constraints were considered, they can be used on platforms with different computing resources. Simulations are conducted to verify the effectiveness of the proposed mechanism. Results show that as compared with those considering step adjustment only, the proposed method largely improves the compensation ability of disturbance and shortens the adjustment time.

show abstract

Section: Discussionmentioning

confidence: 99%

“…For all of the implementations presented, the model is the LIP with 2-D dynamics given by equation (1). However, the math is generally independent of the model.…”

Section: System Optimization Modelmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Flexible model predictive control based on multivariable online adjustment mechanism for robust gait generation

Dong

Yuan

et al. 2020

International Journal of Advanced Robotic Systems

View full text Add to dashboard Cite

show abstract

“…We see how, in 2D balance control, the coordinates x and s are proportional. Interpolation over x [7], [9] is therefore equivalent to interpolation over s, and one can recognize in (20) the same principle as the conservation of orbital energy [9]. The benefit of using s rather than x will appear when we move to 3D control.…”

Section: Sagittal 2d Balance With Fixed Copmentioning

confidence: 99%

Balance Control Using Both ZMP and COM Height Variations: A Convex Boundedness Approach

Caron

Mallein

2018

2018 IEEE International Conference on Robotics and Automation (ICRA)

Self Cite

View full text Add to dashboard Cite

Developments for 3D control of the center of mass (CoM) of biped robots are currently located in two local minima: on the one hand, methods that allow CoM height variations but only work in the 2D sagittal plane; on the other hand, nonconvex direct transcriptions of centroidal dynamics that are delicate to handle. This paper presents an alternative that controls the CoM in 3D via an indirect transcription that is both low-dimensional and solvable fast enough for realtime control. The key to this development is the notion of boundedness condition, which quantifies the capturability of 3D CoM trajectories.

show abstract

“…Leg movement is the basic function for robots to complete various advanced task, and it influences the dynamic balance of humanoid robots. Due to the complexities of its hybrid dynamics, however, the unidirectional constraints on the contact forces, the high dimensionality as well as the nonlinearity of robot general dynamics, the leg movement of robots is broadly respected to be a troublesome issue [1]. In literature, a common method to tackle such a problem is to use the overall dynamics of the robot to optimize the walking gait.…”

Section: Introdutcionmentioning

confidence: 99%

On-Line Gait Adjustment for Humanoid Robot Robust Walking Based on Divergence Component of Motion

Dong

Yuan

et al. 2019

IEEE Access

View full text Add to dashboard Cite

Walking on gravel with soft soles using linear inverted pendulum tracking and reaction force distribution

Cited by 18 publications

References 17 publications

Flexible model predictive control based on multivariable online adjustment mechanism for robust gait generation

Flexible model predictive control based on multivariable online adjustment mechanism for robust gait generation

Balance Control Using Both ZMP and COM Height Variations: A Convex Boundedness Approach

On-Line Gait Adjustment for Humanoid Robot Robust Walking Based on Divergence Component of Motion

Contact Info

Product

Resources

About