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Energy-efficient gait planning and control is established for biped robots, which utilizes the allowable zero moment point (ZMP) region. Based on 3-D linear inverted pendulum mode (LIPM), we construct a practical gait planning algorithm for a given travel distance minimizing the energy consumed by the actuators of humanoid joints with 1) an online gait synthesis (GSYN) algorithm to generate a complete...
New gait planning using a nonholonomic model with difference equation constraints is proposed for biped robot walking. A model of a pivoting telescopic segment is used as the kinematic foothold selection model of a bipedal robot. The repetitive and discontinuous constraints of pivoting, expanding, and contracting make up the set of walking trajectory data. The k-step reachable region is defined as...
This paper proposes a novel evolutionary optimized footstep planner for humanoid robot. Firstly, a footstep planner using univector field navigation method is proposed to provide a command state (CS) which is to be the input of modifiable walking pattern generator (MWPG) at each footstep. Then the MWPG generates the associated trajectories of every leg joint of humanoid robot at each footstep to follow...
We present a method for interactively guiding the navigation of a humanoid robot through complex terrain via an intuitive path-drawing interface. In contrast to full autonomy or direct teleoperation of the robot, the user suggests an overall global navigation route by ??drawing?? a path onto the environment while the robot is walking. The path is used by a footstep planner that searches online for...
When a humanoid robot moves in an actual working environment, it is necessary for the robot to generate appropriate locomotion trajectory in real-time to ensure its stability. But it is difficult to solve nonlinear differential equations of stability constraints in real-time to get stable locomotion trajectory. This paper proposed a method to generate stable and smooth locomotion trajectory through...
A motion planning method for humanoid robots to pass under obstacles is proposed. The proposed motion planner can calculate a goal configuration and connect it with an initial configuration in a collision-free dynamically stable motion. The method can generate not only a body motion but also the footstep sequence. The effectiveness of the proposed method was validated by experiments with the humanoid...
In this paper, we present a new method that uses random search for online planning of biped walking, given a feasible footstep plan. The Linear Inverted Pendulum dynamic model and the Zero Moment Point concept are employed to solve the walking problem. We consider walk planning as the choice of a sequence of ZMPs leading to a stable walk that satisfies all the dynamic and mechanical constraints of...
A non-time reference gait planning method is proposed. The usual reference variable, time, is substituted by a non-time variable in gait, so the whole gait-planning phase can be divided into two phases, (1) planning the space walking path: Taking the forward locomotion of upper-body as reference variable, considering the constraint of the environment, the walking path of a robot without collision...
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