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Common design principles for low cost humanoid robots include a low center of mass height and a large support area for increased static stability. However, such principles limit the bipedal mobility of the robot due to the kinematic constraints involved. In this paper, we present an efficient locomotion controller that utilizes automatically calculated heel and toe lift motions to overcome the kinematic...
In this paper, an optimal preview controller for the Nao biped robot is developed based on a three-dimensional linear inverted pendulum model and zero moment point stability criterion. In order to estimate the unmeasurable state vector, an unscented Kalman filter state observer is proposed which guarantees robustness of the control loop through loop transfer recovery and provides asymptotic stability...
When a humanoid robot traverses uneven terrain, such as stairs, possible footstep positions are constrained and the robot must take large strides. For robots with relatively short leg lengths, making such big strides is kinematically challenging. Possible solutions include lowering the torso height, relying on fast and dynamic stepping, and reducing foot size. However, all of these methods negatively...
Many control policies developed for legged robots are based on control of an underlying, simplified version of the dynamics of the robot. A good example is the Linear Inverted Pendulum Model (LIPM) which has become the standard control template for ZMP-based rigid robots. For compliant robots, this reduced order model is naturally the Spring-Loaded Inverted Pendulum (SLIP), which has proven to have...
This paper presents a detailed description of the optimization process used to increase the kicking skills of humanoid players. The kicking movement consists of making a step forward to put the support foot next to the ball to kick, then to execute the kicking motion by rocking the leg that must strike the ball. The rocking motion of the leg passes through three positions; the first position is the...
A novel controller using Center of Gravity (COG) planning based on the Centroidal Moment Pivot (CMP) criterion with Ground Reaction Force (GRF) feedback is presented. High level motion planning of the robot is done by planning a reference CMP trajectory that lies within the support polygon. In order to ensure rotational stability, the controller regulates the distance between the Zero Moment Point...
We present a decoupled controller for a simulated three-dimensional biped. To handle the high-dimensionality of the system, we break the dynamics down into multiple subsystems, which we control separately. For both the sagittal and coronal plane dynamics, we use dynamic programming to simultaneously optimize body motion, foot placement, and step timing for a two link inverted pendulum model. To use...
This paper presents a novel robust framework for online walking control that uses the estimated actual posture of a robot for frequent pattern generation. The motion status in the absolute coordinate system is estimated by using an attitude sensor, and the estimated status is used as the initial condition of the next online pattern generation, so that the walking pattern generator can effectively...
This paper introduces the effectiveness of the body motion for the pace gait of vertical ladder climbing. The pace gait is a symmetrical motion of left side and right side to climb the ladder. As a previous work, we realized the vertical ladder climbing motion; however, it is not stable since the external disturbance is not considered. We add a body motion as an improvement. The external disturbance...
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...
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...
This paper describes the control of an autonomous biped robot capable of pulling a mass in the sagittal plane. The sagittal balance control uses an 8-link model of the robot, which is difficult to apply in real time due to the excessive computational effort. To solve this problem it is used a support vector regression (SVR) controller, which is able to perform the balance control in real time. As...
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