Energy and torque efficient ZMP-based bipedal walking with varying center of mass height

Amran, Aliza Che; Uğurlu, Barkan; Kawamura, Atsuo

doi:10.1109/amc.2010.5464095

Cited by 9 publications

(7 citation statements)

References 10 publications

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“…A few approaches exist for reducing the energy consumption on fully actuated 3D bipedal walkers [2,28], but not in the context of learning a varying-CoM-height walking, as presented in this paper. Previously, machine learning approaches have been successfully used for learning tasks on bipedal robots, such as dynamic balancing, quadruped gait optimization [22], and wholebody control during kinesthetic teaching [24].…”

Section: Related Work To Energy-efficient Motion Generationmentioning

confidence: 99%

Learning to exploit passive compliance for energy-efficient gait generation on a compliant humanoid

et al. 2018

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Modern humanoid robots include not only active compliance but also passive compliance. Apart from improved safety and dependability, availability of passive elements, such as springs, opens up new possibilities for improving the energy efficiency.With this in mind, this paper addresses the challenging open problem of exploiting the passive compliance for the purpose of energy efficient humanoid walking. To this end, we develop a method comprising two parts: An optimization part that finds an optimal vertical center-of-mass trajectory, and a walking pattern generator part that uses this trajectory to produce a dynamically-balanced gait. For the optimization part, we propose a reinforcement learning approach that dynamically evolves the policy parametrization during the learning process. By gradually increasing the representational power of the policy parametrization, it manages to find better policies in a faster and computationally efficient way. For the walking generator part, we develop a variable-centerof-mass-height ZMP-based bipedal walking pattern generator. The method is tested in real-world experiments with the bipedal robot COMAN and achieves a significant 18% reduction in the electric energy consumption

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Section: Related Work To Energy-efficient Motion Generationmentioning

confidence: 99%

Learning to exploit passive compliance for energy-efficient gait generation on a compliant humanoid

et al. 2018

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“…During SSP, joint angles are solved using these two trajectories (P CoM and P S wG ) via inverse kinematics. Then, six of the joints are minimized using the proposed method and SwG trajectory (11) . This is shown in Table 1.…”

Section: Lipm Walking Planningmentioning

confidence: 99%

“…Equation (2) shows the heuristic case for flat floor walking (11) . This equation is derived by ensuring the robot's waist plate is always parallel to the floor.…”

Section: Lipm Walking Planningmentioning

confidence: 99%

Generation of Minimal Energy Joint Trajectories during Single Support Phase for 3-dimensional Bipedal Walking

2013

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This paper introduces a method to generate minimal energy joint trajectories during a single support phase of linear inverted pendulum model (LIPM)-based biped walking. By using a variational approach and B-spline curves, this method is able to generate new set of joint configurations. This joint set minimizes the cost function which reduces the energy consumption while keeping the center of mass almost at the same position in x-, y-and z-directions. Constraining the center of mass to be the same during minimization helps in conserving the zero moment point (ZMP) of the predefined walking trajectory. The energy consumption function is represented by the actuator's electrical energy which consists of copper loss and mechanical energy. From the simulation results, it is verified that the proposed method is effective.

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“…From the control point of view, imposing a constant COM height (or hip height) greatly simplifies control challenges. By setting a constant COM height [7], [8] or a constant hip height [9], the ZMP (zero moment point) [10] with well approximated dynamics [7]. The above advantage makes the constant COM/hip height constraint the most widely applied technique in humanoids walking.…”

Section: Introductionmentioning

confidence: 96%

Fast bipedal walk using large strides by modulating hip posture and toe-heel motion

Vanderborght

Tsagarakis

et al. 2010

2010 IEEE International Conference on Robotics and Biomimetics

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Typically most humanoid robots walk with relatively small strides even on the level ground, and consequently their walking speed is fairly slow compared to humans. One reason is that the constraint of the constant COM (Center of Mass) height, which is for decoupling the frontal and lateral motion, produces the characteristic bent knee feature of walking robots and requires higher motor torques. The other reason is the feet trajectory limitation which demands the feet remain parallel to the ground. The parallel foot placement feature, using no toe-off and heel-strike motions, means that robots have to lower their hip height to perform large strides. This paper studies a trajectory generation method that enables fast bipedal walking with large strides. We address this issue by formulating a hip pattern generator and a feet trajectory generator with toe-off and heel-strike motions, based on the preview control. This scheme is applied to a dynamic simulation of the child humanoid "iCub", which demonstrates successful gaits in large strides at the average speed from 1.08 km/h to 2.52 km/h.

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Energy and torque efficient ZMP-based bipedal walking with varying center of mass height

Cited by 9 publications

References 10 publications

Learning to exploit passive compliance for energy-efficient gait generation on a compliant humanoid

Learning to exploit passive compliance for energy-efficient gait generation on a compliant humanoid

Generation of Minimal Energy Joint Trajectories during Single Support Phase for 3-dimensional Bipedal Walking

Fast bipedal walk using large strides by modulating hip posture and toe-heel motion

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