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Generating gait trajectories is an important step in biped motion control. So, in this paper, a neuro fuzzy (ANFIS)-based gait trajectory generator for a normal walking of a biped robot during the single support phase is developed. Since human sensorimotor controls are done in an optimal way following the principle of optimality, gait trajectories data of human subjects of different hip heights, and...
This paper presents a trajectory generator for humanoid robots that can simultaneously consider 3D position tracking of the center-of-mass (COM), reactive stepping (foot positions are non-constant), zero-moment-point (ZMP) constraints as well as position constraints.
Uneven terrain walking is one of the important premises for biped robots to serve people. However, it is one of the key challenges for biped robots walking on a slope. In this paper, a universal method to generate patterns for biped robot walking on a three-dimensional (3D) slope is proposed. Different from most researches, which only focused on the specific walking directions on a slope as across...
Due to the high complexity of the humanoid body, and its inherently unstable inverted pendulum-like dynamics, the development of a robust and versatile walking controller proves to be a difficult task. Using machine learning algorithms with hardware in the loop is a promising way of achieving balanced and dynamic gaits. In this work, we propose an online learning technique that learns how to step...
This paper proposes a humanoid dance motion generation system that deals with a huge variety of leg motions. While previous research only tackled on a few kinds of leg motions, original human dance leg motions contain various foot touch states such as slide, turn, and heel contact, as well as complex motions such as kick and twist. According to the dance literature, we found that there are seven major...
We propose a two-stage gait pattern generation scheme for the full-scale humanoid robots, that considers the dynamics of the system throughout the process. The fist stage is responsible for generating semi-dynamically consistent step position and step time information, while the second stage incorporated with multi-body dynamics system is responsible for generation of gait pattern that is feasible...
Aiming at biped robot's weak ability to resist interference in unpredictable environment, this paper proposes a closed-loop control system based on the structured gait. By a simplified model of biped robot, walking parameters such as step length, amplitude, frequency are included in a unified gait vector as well as step phase, and a structured gait is constructed. According to inverse kinematics,...
This paper presents a method to handle walking on non-planar surfaces. The trajectories of the center of mass and the next position of the foot are given by a pattern generator. Then, an inverse dynamics control scheme with a quadratic programming optimization solver is used to let the foot go from its initial to its final position, controlling also the center of mass and the waist. The solver can...
In this paper we present a framework for generating walking motions for a humanoid robot and how to adapt the trajectory to handle disturbances during the execution of the trajectory. Based on the simplified dynamics of a mass concentrated model, we generate a physically consistent motion that depends on the current CoM state space of the robot. If the disturbance is low, it is possible to adapt the...
This work introduces a walking pattern generator suitable for humanoids with inherent joint compliance. The proposed walking pattern generator computes the desired center of mass (COM) references on-line based on the COM state feedback. The position and velocity of the COM are the feedback variables, and the constraint ground reaction force (GRF), which is limited by the support polygon, is the control...
We present a new biped walking pattern generator based on “half-steps”. Its key features are a) a 3-dimensional parametrization of the input space, and b) a simple homotopy that efficiently smooths the walking trajectory corresponding to a fixed sequence of steps. We show how these features can be ideally combined in the framework of sampling-based footstep planning. We apply our approach to the robot...
Many walking pattern generators for humanoid robots require predefined trajectories for the robot to track. This inflexibility limits the range of real-world environments that the robot can navigate through. For environments with obstacles and inconsistent terrain, the ability to change the walking trajectory becomes valuable. Using a miniature humanoid, a three-dimensional inverted pendulum model...
Typically most humanoid robots walk with relatively small strides even on the level ground, and consequently their walking speed is fairly slow compared to humans. One reason is that the constraint of the constant COM (Center of Mass) height, which is for decoupling the frontal and lateral motion, produces the characteristic bent knee feature of walking robots and requires higher motor torques. The...
This paper proposes a reactive leg motion generation method which integrates geometric constraints into its generation process. In order to react given instructions instantaneously or to keep balance against external disturbances, feasible steps must be generated automatically in real-time for safety. In many cases this feasibility has been realized by using predefined steps or admissible stepping...
We present here an original approach to test the feasibility of footsteps for a given walking pattern generator. It is based on a new approximation algorithm intended to cope with this specific problem. The result obtained is used on the robot HRP-2, and enables it to guess a step feasibility 40,000 times faster (in 9μs) than with the normal verification process. As a consequence some advance is made...
This paper proposes the kinodynamic gait planning for humanoid robots where both kinematics and dynamics of the system are considered. We can simultaneously plan both the foot-place and the whole-body motion taking the dynamical balance of the robot into consideration. As a dynamic constraint, we consider the differential equation of the robotpsilas CoG. To solve this constraint, we assume two walking...
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