Feasible speeds for two optimal periodic walking gaits of a planar biped robot

Hobon, Mathieu; De-León-Gómez, Víctor; Abba, Gabriel; Aoustin, Yannick; Chevallereau, Christine

doi:10.1017/s0263574721000631

Cited by 3 publications

(7 citation statements)

References 38 publications

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“…The conclusion is validated again in the test case 2 with the climbing velocity of about 0.2 m/s. On the other hand, the CoP positions of test case 2 during [9,12] s are close to the edge of the support polygon, compared to ones of test case 1 during [3,5] s. The reason might be that going up a slope requires larger friction than moving on a level floor. The further forward placement of CoP can provide the required force.…”

Section: Slope Walkingmentioning

confidence: 88%

“…The robot holds the average velocity of about 1 m/s during [9,10] s. Different from slow velocity walking, the robot CoP coincides with the upper bound of support polygon during most of time for fast walking. Meanwhile, the robot CoG exceeds the upper limit of stance foot after half of stance time when the velocity remains around 1 m/s.…”

Section: Level Ground Walkingmentioning

confidence: 97%

“…( 7). Equations ( 8) and (9) show that the pitch of swing foot is preferred to be slightly tilted, and the pitch of robot torso is allowed to be swayed in a small range.…”

Section: Kinematics Constraintsmentioning

confidence: 99%

“…The optimal control-based methods guarantee the principle of optimality, but have difficulties in chandling time-dependent constraints. Therefore, finding an optimal gait is transformed into a numerical programming problem [8][9][10][11]. To solve the numerical programming problem, both gradientbased methods and heuristic-based methods have their pros and cons.…”

Section: Introductionmentioning

confidence: 99%

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Gait optimization and energy-based stability for biped locomotion using large-scale programming

et al. 2023

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This paper presents a gait optimization method to generate the locomotion pattern for biped and discuss its stability. The main contribution of this paper is a newly proposed energy-based stability criterion, which permits the dynamic stable walking and could be straight-forwardly generalized to different locomotion scenarios and biped robots. The gait optimization problem is formulated subject to the constraints of the whole-body dynamics and kinematics. The constraints are established based on the modelling of bipedal hybrid dynamical systems. Following the whole-body modelling, the system energy is acquired and then applied to create the stability criterion. The optimization objective is also established on the system energy. The gait optimization is solved by being converted to a large-scale programming problem, where the transcription accuracy is improved via the spectral method. To further reduce the dimensionality of the large-scale problem, the whole-body dynamics is re-constructed. The generalization of the optimized gait is improved by the design of feedback control. The optimization examples demonstrate that the stability criterion naturally leads to a cyclic biped locomotion, though the periodicity was not previously imposed. Two simulation cases, level ground walking and slope walking, verify the generalization of the stability criterion and feedback control. The stability analyses are carried out by investigating the motions of centre of gravity and centre of pressure. It is revealed that if the tracked speed is above 0.3 m/s or the biped accelerates/climbs the slope, the stability criterion accomplishes the dynamic stable walking, where zero moment point criterion is not strictly complied.

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Section: Slope Walkingmentioning

confidence: 88%

Section: Level Ground Walkingmentioning

confidence: 97%

“…( 7). Equations ( 8) and (9) show that the pitch of swing foot is preferred to be slightly tilted, and the pitch of robot torso is allowed to be swayed in a small range.…”

Section: Kinematics Constraintsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Gait optimization and energy-based stability for biped locomotion using large-scale programming

et al. 2023

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“…However, using these simplified models results in the algorithm requiring the robot centroid to considerably upwards [18], which is challenging to satisfy this requirement for some biped robots due to their ability needs. With the development of nonlinear optimization in trajectory planning, trajectory optimization based on the whole-body model of a biped robot has been studied [19,20]. In this method, a dynamic model of the biped robot's entire body is established, the motion library is generated by offline optimization, and the desired action is realized by real-time control.…”

Section: Introductionmentioning

confidence: 99%

A heuristic gait template planning and dynamic motion control for biped robots

Han

Chen

et al. 2022

Robotica

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Biped robots with dynamic motion control have shown strong robustness in complex environments. However, many motion planning methods rely on models, which have difficulty dynamically modifying the walking cycle, height, and other gait parameters to cope with environmental changes. In this study, a heuristic model-free gait template planning method with dynamic motion control is proposed. The gait trajectory can be generated by inputting the desired speed, walking cycle, and support height without a model. Then, the stable walking of the biped robot can be realized by foothold adjustment and whole-body dynamics model control. The gait template can be changed in real time to achieve gait flexibility of the biped robot. Finally, the effectiveness of the method is verified by simulations and experiments of the biped robot BHR-B2. The research presented here helps improve the gait transition ability of biped robots in dynamic locomotion.

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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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Feasible speeds for two optimal periodic walking gaits of a planar biped robot

Cited by 3 publications

References 38 publications

Gait optimization and energy-based stability for biped locomotion using large-scale programming

Gait optimization and energy-based stability for biped locomotion using large-scale programming

A heuristic gait template planning and dynamic motion control for biped robots

Control and Gait Generation of Biped Robots: A Review

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