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Two legged robots have better mobility when compared with wheeled robots, but they tend to tip over easily. This will become a serious problem when the degrees of freedom (DOF) of the two legged walking machine increases. To overcome this problem the gaits of the biped robot need to be planned properly. In the present paper, a closed form solution for whole body motion of a 18-DOF biped robot, based...
This paper describes the implementation of walking motion of HOAP-2 Humanoid in OpenHRP simulation. Weput forward the existing knowledge on humanoid walking in aconcise and straightforward manner and integrate it to make the humanoid walk. We make use of the concept of Zero Moment Point (ZMP) for stability analysis and Cart Table Model to determine the relation between Zero Moment Point and Centre...
Many researchers have been focused on the walking of the biped robots in the sagittal plane. However, biped robots are expected to have the capability to step merely laterally, in confronting the obstacles such as a wall. This paper presents an optimal control method for three link planer model of a biped robot that steps purely in the lateral plane. Desired walking trajectory is generated base on...
The mobility of humanoid robots are restrained by many natural constraints. Due to the unstable property of humanoid robots, they are usually controlled by a preplanning stable COG (center of gravity) trajectory subject to a properly designed ZMP (zero moment point) using inverted pendulum model. Despite the advantage of stability, the method becomes tricky to modify the preplanning footsteps randomly...
This paper deals with a novel solution for humanoid robots stepping over motion. It covers kinematics and dynamics problem, on the development of dynamically stable stepping over motion around an obstacle of any dimensions and configuration, between two generic footprints. The approach is solved taking into account the geometric constraints, by the use of oriented bounding boxes (OBB), the ZMP based...
The work presented in this paper deals with the generation of trajectories for humanoid robots imitating human gaits captured with a motion capture system. Once the human motion is recorded, this one is modified to be adapted to the robot morphology. The proposed method could be used for human-like robots of different sizes and masses. The generated gaits are closed to the human's ones while respecting...
The author has proposed a novel method for generating a dynamic gait based on anterior-posterior asymmetric impact posture tilting the robot's center of mass forward. The primary purpose of this method is to asymmetrize the impact posture by actuating the robot's telescopic-legs to make overcoming the potential barrier at mid-stance easy, and the mechanical energy is accordingly restored. We have...
Energy-efficient reference gait generation algorithm is suggested utilizing variable ZMP (Zero Moment Point) and vertical hip motion, which maxmizes the energy efficiency for cyclic gaits, based on inverted pendulum model (IPM) for biped robots. As observed in natural human walking, the robot's vertical hip motion (with average height and amplitude of hip ripple) as well as allowing variable ZMP pattern,...
The work presented in this paper deals with the generation of trajectories for humanoid robots imitating human gaits captured with a motion capture system. Once the human motion is recorded, this one is modified to be adapted to the robot morphology. The proposed method could be used for human-like robots of different sizes and masses. The generated gaits are closed to the humans ones while respecting...
This paper is presenting a method to generate real-time running and jumping trajectories that can be applied to bipedal humanoid robots. The proposed method is based on maintaining the overall dynamic balance by using the ZMP stability criterion throughout support phases. To be able to reach this goal, we utilize ZMP equations in spherical coordinates, so that the rate change of angular momentum terms...
A new method of gait optimization for a humanoid robot climbing stairs based on multi-objective Genetic algorithm(GA) was proposed in this paper. Based on the humanoid robot model and the staircase model, the complicated process of climbing stairs was parameterized, and a climbing stairs mode was built. A math function, which takes the stability judgment based on zero moment point (ZMP) and energy...
A new method for bipedal walking on rough terrain by using ZMP criteria map is proposed. The rough terrain walking is classified to ldquostep uprdquo and ldquostep downrdquo by landing timing of a swing leg. The walking pattern is modified in real-time according to the difference between the ideal timing and the measured timing by a force sensor on the foot. In the case of ldquostep uprdquo, the landing...
This paper introduces two new important issues to be considered in the design of the zero moment point (ZMP) reference trajectory for the sagittal plane balance control of an autonomous walking biped robot with an human-like gait. ZMP trajectory reference generation is very important in the design and balance control of the walking of a biped robot. ZMP reference generation algorithms based on the...
This paper describes the control of an autonomous biped robot capable to be subjected to external forces applied in the sagittal plane. A 1st order Takagi-Sugeno-Kang (TSK) type neuro fuzzy net, that was trained based on experimental and simulation data, is used. This net uses the zero moment point (ZMP) position and its variation as inputs, and the sagittal correction of the robot's body is obtained...
Stability of Biped walking has been an area of interest for researchers since decades. In this work an optimum hip trajectory is generated, taking its swinging foot trajectory that is a B-Spline path and physical parameters of the robot as input parameters. The objective is to minimize the deviation of zero moment point (ZMP) from the geometrical centre of supporting foot area. Genetic algorithm (GA)...
In order to handle complex navigational commands, this paper proposes a novel algorithm that can modify a walking period and a step length in both sagittal and lateral planes. By allowing a variation of zero moment point (ZMP) over the convex hull of foot polygon, it is possible to change the center of mass (CM) position and velocity independently throughout the single support phase. This permits...
Humans utilize the configuration with extended knees to achieve efficient walk. A humanoid robot, however, cannot do so, since this posture is a singular configuration. In order to tackle this problem, in our previous work, a walking pattern generator based on the spherical inverted pendulum model has been proposed. It enables to generate up-and-down waist motions and utilizes the singularity neighborhood...
Reference trajectory generation is one of the key problems in biped walking robot research. The linear inverted pendulum model (LIPM) is employed widely as a useful model which simplifies trajectory generation task. Many reference generation algorithms use the zero moment point (ZMP) criterion for the LIPM in order to achieve stable walking trajectories. However, LIMP ignores the dynamics of the swing...
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