Energy-Efficient Walking for Biped Robot Using Self-Excited Mechanism and Optimal Trajectory Planning

Huang, Qingjiu; Ono, Kyosuke

doi:10.5772/4875

Cited by 5 publications

(7 citation statements)

References 17 publications

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“…Biped robot stability approaches based on the ZMP still lack efficiency, robustness, easy handling and natural motion. 39,44 For further reading, refer to refs. [27,[45][46][47][48][49][50][51][52][53][54].…”

Section: Formulation 2 (Less Computational)mentioning

confidence: 99%

Multi-level control of zero-moment point-based humanoid biped robots: a review

et al. 2015

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SUMMARYResearchers dream of developing autonomous humanoid robots which behave/walk like a human being. Biped robots, although complex, have the greatest potential for use in human-centred environments such as the home or office. Studying biped robots is also important for understanding human locomotion and improving control strategies for prosthetic and orthotic limbs. Control systems of humans walking in cluttered environments are complex, however, and may involve multiple local controllers and commands from the cerebellum. Although biped robots have been of interest over the last four decades, no unified stability/balance criterion adopted for stabilization of miscellaneous walking/running modes of biped robots has so far been available. The literature is scattered and it is difficult to construct a unified background for the balance strategies of biped motion. The zero-moment point (ZMP) criterion, however, is a conservative indicator of stabilized motion for a class of biped robots. Therefore, we offer a systematic presentation of multi-level balance controllers for stabilization and balance recovery of ZMP-based humanoid robots.

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Section: Formulation 2 (Less Computational)mentioning

confidence: 99%

Multi-level control of zero-moment point-based humanoid biped robots: a review

et al. 2015

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“…In the second technique, there was a bending angle held at the knee of the support leg. As a result, the biped model could walk faster than the fully straight support leg (stopper) model (Ono et al, 2000;Ono et al, 2001;Ono et al, 2004;Sangwan et al, 2004;Mukherjee et al 2007;Huang et al, 2007;Hoshino et al, 2011;Zhihuan, 2011). Despite this assumption, the model included only an almost straight knee state, which does not exactly reproduce natural walking characteristics.…”

Section: Introductionmentioning

confidence: 99%

“…The only research has been done by Bazargan-Lari et al (2015), which deals with tracking control of a human swing leg. Also, there are a few articles on regulation problem of the constrained biped system by some researchers (Ono et al, 2000;2002;Sangwan et al, 2004;Mukherjee et al, 2007;Huang et al, 2007;Hoshino et al, 2011;Zhihuan, 2011) and also by the authors, Bazargan-Lari et al (2011). For the tracking problem, the gait cycles of normal walking taken from anthropomorphic joint trajectories, Ounpuu (1994); Kamen (2001), should be assigned as the desired trajectories of the thigh, knee and pelvis joints of the constrained biped.…”

Section: Tracking Control Of the Joint Self-impact Systemmentioning

confidence: 99%

“…no constraint on angles of rotation, is not valid and shank cannot assume the rotation angles which are greater than that of thigh. This discrepancy will be accounted for in system modeling by considering a selfimpact constraint at the knee joints which will be activated when Ono et al (2000); (2001); (2004); Huang et al (2007) considered the joint self-impact constraint as a stopper. On the other hand, Singh et al (2008); Chatterjee et al (1995) used a spring and damper between two colliding members to model self-impact elastic and inelastic damper.…”

Section: Description Of Dynamical Modelling Of Joint Self-impact In Amentioning

confidence: 99%

“…Considering joint self-impact phenomenon, as a natural property, in modeling of the body can exhibit a more realistic behavior of the system. One way to consider the self-impact constraint is to assume a "stopper" at the knee joint, which was proposed in some research studies (Ono et al, 2000;Ono et al, 2001;Ono et al, 2004;Sangwan et al, 2004;Mukherjee et al, 2007;Huang et al, 2007;Hoshino et al, 2011;Zhihuan, 2011). The other way is to assume a "brake" at the knee joint, which was suggested by some other researchers (Ono et al, 2002;Ono et al, 2006).…”

Section: Introductionmentioning

confidence: 99%

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Tracking control of a planar five-link bipedal walking system with point contact, considering self-impact joint constraint by adaptive neural network method

Bazargan-Lari

Eghtesad

Khoogar

et al. 2015

Lat. Am. j. solids struct.

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In order to achieve the practical characteristics of natural bipedal walking, a key feature is to realize "the straight knee state of walking" during stance and swing motions. Considering a straight knee necessitates that the shank link of each leg not to undergo the rotation angles which are greater than that of the thigh link. For this purpose, various methods have been proposed; the joint selfimpact constraint has been suggested for energy-efficient (natural) bipedal walking while realizing the straight knee constraint. The prominent objective of this research is to present a model based control method for trajectory tracking of a normal humanlike bipedal walking, by considering the joint self-impact constraint. To achieve this objective, the dynamical equations of motion of an unconstrained biped are taken, developed and then modified to consider the joint self-impact constraint at the knee joint. To control this complicated dynamical system, the available anthropometric normal gait cycle data are taken to generate the desired trajectories of the thigh and knee joints of the self-impact biped. Due to the existence of complex nonlinear terms in the dynamical governing equations of self-impact biped, the authors propose to design a nonlinear intelligent controller by taking advantage of the adaptive neural network control method, which neither requires the evaluation of inverse dynamical model nor the time consuming training process. According to the simulation results, the tracking control of the biped robot is accomplished well and the biped walking seems naturally, despite of involving complex nonlinear terms in the dynamical governing equations of the self-impact biped.

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Control and Gait Generation of Biped Robots: A Review

Memar Kocheh Bagh,

Liu

2024

Lecture Notes in Networks and Systems

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This review paper explores the translation of human negotiation behaviours to bipedal walking robots, considering the inherent differences in morphology between humans and robots. Despite considerable advancements in bipedal robotics in recent years, mechanical bipeds still lack the agility and robustness exhibited by their biological counterparts, particularly in unfamiliar or dynamically changing environments. This limitation can be attributed to the absence of online motion planning, reflex-like control, and non-advantageous passive dynamics, which biological systems employ to effectively overcome disturbances, especially when encountering significant unplanned changes in stepping height.

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Energy-Efficient Walking for Biped Robot Using Self-Excited Mechanism and Optimal Trajectory Planning

Cited by 5 publications

References 17 publications

Multi-level control of zero-moment point-based humanoid biped robots: a review

Multi-level control of zero-moment point-based humanoid biped robots: a review

Tracking control of a planar five-link bipedal walking system with point contact, considering self-impact joint constraint by adaptive neural network method

Control and Gait Generation of Biped Robots: A Review

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