Using Zero Moment Point preview control formulation to generate nonlinear trajectories of walking patterns on humanoid robots (original) (raw)
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Biped walking pattern generation by using preview control of zero-moment point
2003
We introduce a new method of a biped walking pattern generation by using a preview control of the zeromoment point (ZMP). First, the dynamics of a biped robot is modeled as a running cart on a table which gives a convenient representation to treat ZMP. After reviewing conventional methods of ZMP based pattern generation, we formalize the problem as the design of a ZMP tracking servo controller. It is shown that we can realize such controller by adopting the preview control theory that uses the future reference. It is also shown that a preview controller can be used to compensate the ZMP error caused by the difference between a simple model and the precise multibody model. The effectiveness of the proposed method is demonstrated by a simulation of walking on spiral stairs. 0-7803-7736-2/03/$17.00 ©2003 IEEE
Dynamic Modelling and Analyzing of a Walking of Humanoid Robot
Strojnícky casopis – Journal of Mechanical Engineering, 2018
This paper focuses on the walking improvement of a biped robot. The zero-moment point (ZMP) method is used to stabilise the walking process of robot. The kinematic model of the humanoid robot is based on Denavit- Hartenberg’s (D-H) method, as presented in this paper. This work deals with the stability analysis of a two-legged robot during double and single foot walking. It seems more difficult to analyse the dynamic behaviour of a walking robot due to its mathematical complexity. In this context most humanoid robots are based on the control model. This method needs to design not only a model of the robot itself but also the surrounding environment. In this paper, a kinematic simulation of the robotic system is performed in MATLAB. Driving torque of the left and right ankle is calculated based on the trajectory of joint angle, the same as angular velocity and angular acceleration. During this process an elmo motion controller is used for all joints. The validity of the dynamic model ...
A walking pattern generation method with feedback and feedforward control for humanoid robots
2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009
This paper proposes a new walking pattern generation method for humanoid robots. The proposed method consists of feedforward control and feedback control for walking pattern generation. The pole placement method as a feedback controller changes the poles of system in order to generate more stable and smoother walking pattern. The advanced pole-zero cancelation by series approximation(PZCSA) as a feedforward controller plays a role of reducing the inherent property of linear inverted pendulum model (LIPM), that is, non-minimum phase property due to an unstable zero of LIPM and tracking efficiently the desired zero moment point (ZMP). The efficiency of the proposed method is verified by three simulations such as arbitrary walking step length, arbitrary walking phase time and sudden change of walking path.
Modifiable Walking Pattern of a Humanoid Robot by Using Allowable ZMP Variation
IEEE Transactions on Robotics, 2000
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 a range of dynamic walking motion, which is not achievable using the 3-D linear inverted pendulum mode (3D-LIPM). In addition, the proposed algorithm enables to determine the dynamic feasibility of desired motion via the construction of feasible region, which is explicitly computed from the current CM state with simple ZMP functions. Moreover, adopting the closed-form functions makes it possible to calculate the algorithm in real time. The effectiveness of the proposed algorithm is demonstrated through both computer simulation and experiment on the humanoid robot, HanSaRam-VII, developed at the Robot Intelligence Technology (RIT) laboratory, Korea Advanced Institute of Science and Technology (KAIST).
2013 IEEE 11th International Symposium on Intelligent Systems and Informatics (SISY), 2013
This paper deals with the problem of synthesis of bipedal walking and motion control of the robot having in mind requirements for the motion in unstructured environment such as living and working environment of man. The walk is synthesized by combining and tying basic parameterized movements, called motion primitives. To enable on-line modification of synthesized walk the relationship is established between the overall parameters of walk and parameters of the motion primitives. Besides the need for online modifiable walk, it is also inevitable for robot to deal with ever present external disturbances. Therefore, in this paper robust nonlinear control law is proposed which consists of feedback linearization and sliding mode. I.
Numerous approaches have been proposed to generate well-balanced gaits in biped robots that show excellent performance in simulated environments. However, in general, the dynamic balance of the robots decreases dramatically when these methods are tested in physical platforms. Since humanoid robots are intended to collaborate with humans and operate in everyday environments, it is of paramount importance to test such approaches both in physical platforms and under severe conditions. In this work, the special characteristics of the Nao humanoid platform are analyzed and a control system that allows robust walking and disturbance rejection is proposed. This approach combines the zero moment point (ZMP) stability criterion with angular momentum suppression and step timing control. The proposed method is especially suitable for platforms with limited computational resources and sensory and sensory-motor capabilities.
Humanoid feet trajectory generation for the reduction of the dynamical effects
2009 9th IEEE-RAS International Conference on Humanoid Robots, 2009
In this paper we present a different strategy for generating the trajectory of the swinging leg for a walking humanoid robot which takes into account the effects due to acceleration and velocities of the joints onto the center of mass of the robot. The trajectory of the leg is chosen to be constituted by two forth order polynomials interlaced by a via-point which satisfies the optimality criterium. This approach is validated on a humanoid robot HRP-2.
On Some Aspects of Humanoid Robots Gait Synthesis and Control at Small Disturbances
International Journal of Humanoid Robotics, 2008
The work considers some aspects of the problem of generating and preserving of two-legged gait bearing in mind the requirements for a higher degree of similarity with human gait (anthropomorphism) and robustness to the constantly present small disturbances during the walk. Reference motion was synthesized by semi-inverse method, varying the mode of ZMP traveling along a path selected in advance on the foot-ground surface. It was found that different ways of ZMP motion along the path has a decisive role in the trunk deflection in the sagittal plane. Also, the problem of classification of disturbances and their compensation during the gait is discussed in detail. The significance of the multi-link trunk in the gait synthesis and its role in the compensation of disturbances is also considered.
Periodic Walking Motion of a Humanoid Robot Based on Human Data
2020
Human walking has been intensely studied, but it is di cult to reproduce on humanoid robots that maintain awkward movements. Three main di culties exist. (i) Di↵erent joint kinematics and size between humans and robots. (ii) A rolling motion of the foot which is often impossible to execute with humanoid robots that walk with their feet flat. (iii) A di↵erence in the dynamic model of a robot compared to a human that makes a copy of a human movement lead to unstable walking. In order to take into account the first two di culties, the specifications for reproducing human movements are adjusted. To ensure stability, a previously developed dynamic model called Essential Model is used. The zero moment point (ZMP) is imposed, and the horizontal evolution of the centre of mass (CoM) is computed to satisfy the ZMP.