A Bipedal Locomotion Planning Based on Virtual Linear Inverted Pendulum Mode

Motoi, Naoki; Suzuki, Takaya; Ohnishi, Kouhei

doi:10.1109/icit.2006.372326

Cited by 11 publications

(10 citation statements)

References 23 publications

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“…A few of these research studies include [22] which propose pattern generation by the preview control of the ZMP, [23] that are based on an assumption of a virtual supporting point, [24] - [25] which propose real-time trajectory generation based on analytic solutions and [26][27] deal with the algorithms on optimization gaits for improved dynamical stability and low energy cost. Furthermore, research studies [28] - [32] present real-time gait planning methods using generalized ZMP based pushing motion algorithms implemented on bipedal and humanoid robots to formulate adaptive locomotion for climbing and walking over a slope or an inclined floor using genetic algorithms, sensor fusion and visual information.…”

Section: Motion Planningmentioning

confidence: 99%

Motion Planning Using an Impact-Based Hybrid Control for Trajectory Generation in Adaptive Walking

Asif

Iqbal

2011

International Journal of Advanced Robotic Systems

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This paper aims to solve a major drawback of walking robots i.e. their inability to react to environmental disturbances while navigating in natural rough terrains. This problem is reduced here by suggesting the use of a hybrid force-position control based trajectory generation with the impact dynamics into consideration that compensates for the stability variations, thus helping the robot react stably in the face of environmental disturbances. As a consequence, the proposed impact-based hybrid control helps the robot achieve better and stable motion planning than conventional position-based control algorithms. Dynamic simulations and real world outdoor experiments performed on a six legged hexapod robot show a relevant improvement in the robot locomotion.

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Section: Motion Planningmentioning

confidence: 99%

Motion Planning Using an Impact-Based Hybrid Control for Trajectory Generation in Adaptive Walking

Asif

Iqbal

2011

International Journal of Advanced Robotic Systems

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“…In the preview control approach, we need to solve the n-th order Riccati equation to calculate feedback gains and preview gains. In contrast to the ZPLPF approach, FIR-ZPLPF only needs to calculate the filter coefficient from the impulse response using (20), (21), and (22). The IIR-ZPLPF only needs to calculate the Tustin conversion of (27).…”

Section: F Comparison Of Cog Pattern Generation Methods 1) Design Costmentioning

confidence: 99%

“…Therefore, almost all 3D-WLMRs move statically and exhibit only adaptability. To obtain high mobility, the zero moment point (ZMP), which is generally used as a stability index for bipedal robots [18]- [20], is applied to the 3D-WLMR. It is anticipated that the ZMP-based 3D-WLMR will move faster and more stable than the conventional 3D-WLMR.…”

Section: Introductionmentioning

confidence: 99%

Real-Time Motion Generation and Control Systems for High Wheel-Legged Robot Mobility

Suzumura

Fujimoto

2014

IEEE Trans. Ind. Electron.

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A wheel-legged mobile robot (WLMR) has both leg and wheel structures. WLMRs have adaptability advantages because they can change locomotion methods depending on the terrain. However, the location of a WLMR s center of gravity (CoG) is very high; Thus, almost all existing WLMRs move statically. In this study, whole body motion generation and various control systems are studied to facilitate higher WLMR mobility. To this end, a zero moment point (ZMP) is introduced as a stability index. In addition, WLMRs are modeled as single point mass linear inverted pendulums. Subsequently, online CoG pattern generation methods are proposed; one is a preview control approach and a second is an approach that realizes the desired ZMP pattern using a zero-phase low-pass filter. It is then possible to generate the desired CoG patterns more easily and faster than with a preview control approach. The CoG patterns based on the single point model are constructed via the resolved momentum control approach. Finally, the effectiveness of the whole body motion pattern generated by the proposed methods is validated by simulations and experiments. Index Terms-Wheel-legged mobile robot, hybrid mobile robot, zero moment point, resolved momentum control, center of gravity pattern generation, zero-phase low pass filter Manuscript

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“…Recent major accomplishments include control design of under actuated robotic systems [115][116][117], mobile wheeled inverted pendulums [118][119][120][121] and gait pattern generation for bipedal and humanoid robots [122][123][124][125][126][127][128][129][130][131][132]. In most cases, the non linear control problem is based on finding a suitable reference trajectory obeying a certain criteria formulated as a constrained optimization problem (see [133] and [134] and references therein).…”

Section: Future Trends and Challengesmentioning

confidence: 99%

The Inverted Pendulum Benchmark in Nonlinear Control Theory: A Survey

Boubaker

2013

International Journal of Advanced Robotic Systems

122

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For at least fifty years, the inverted pendulum has been the most popular benchmark, among others, in nonlinear control theory. The fundamental focus of this work is to enhance the wealth of this robotic benchmark and provide an overall picture of historical and current trend developments in nonlinear control theory, based on its simple structure and its rich nonlinear model. In this review, we will try to explain the high popularity of such a robotic benchmark, which is frequently used to realize experimental models, validate the efficiency of emerging control techniques and verify their implementation. We also attempt to provide details on how many standard techniques in control theory fail when tested on such a benchmark. More than 100 references in the open literature, dating back to 1960, are compiled to provide a survey of emerging ideas and challenging problems in nonlinear control theory accomplished and verified using this robotic system. Possible future trends that we can envision based on the review of this area are also presented.

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A Bipedal Locomotion Planning Based on Virtual Linear Inverted Pendulum Mode

Cited by 11 publications

References 23 publications

Motion Planning Using an Impact-Based Hybrid Control for Trajectory Generation in Adaptive Walking

Motion Planning Using an Impact-Based Hybrid Control for Trajectory Generation in Adaptive Walking

Real-Time Motion Generation and Control Systems for High Wheel-Legged Robot Mobility

The Inverted Pendulum Benchmark in Nonlinear Control Theory: A Survey

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