Maintaining floor-foot contact of a biped robot by force constraint position control

Kawamura, Atsuo; Heerden, Kirill Van

doi:10.1109/icmech.2011.5971234

Cited by 8 publications

(4 citation statements)

References 15 publications

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“…Heerden and Kawamura adopted the A-star path planning algorithm to realize jumping trajectory generation considering reducing backwards and compliant landing [13]. Kawamura and Heerden realized limiting referential torques to prevent tipping, sliding, twisting, and excessively large ground collisions [14]. Aversa et al introduced the generalized Jump-Point-Search algorithm to solve the problem of inventory-driven pathfinding [15].…”

Section: Introductionmentioning

confidence: 99%

Trajectory Planning of an Intermittent Jumping Quadruped Robot with Variable Redundant and Underactuated Joints

et al. 2018

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The jumping robot has been a hot research field due to its prominent obstacle-climbing ability and excellent capacity in terrain adaptation and autonomous movement. However, huge impact between the robot and the ground when landing may cause structure damage, unbalanced movement, and even system crash. Therefore, trajectory planning of the jumping process has been a great challenge in robotic research, especially for the robot with varying underactuated and redundant joints. An intermittent jumping quadruped robot driven by pneumatic muscle actuators (PMAs) and owning variable redundant and underactuated joints designed in a previous study is taken as the study object. This paper divides the problem of trajectory planning into trajectory planning in the centroid space and joint space. Trajectory planning of different jumping phases in the centroid space adopts the scheme of minimizing the peak reaction force from the ground, then trajectory planning of the joint space is performed obeying the principle of minimizing consumed active torques. A jumping experiment is performed and validates the effectiveness of the proposed trajectory algorithm.

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Section: Introductionmentioning

confidence: 99%

Trajectory Planning of an Intermittent Jumping Quadruped Robot with Variable Redundant and Underactuated Joints

et al. 2018

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“…Little work has been devoted to the kinematics and dynamics of the slip of the supporting contact. To incorporate these effects requires new equations and additional degrees of freedom, as implemented in [10, 11].…”

Section: Introductionmentioning

confidence: 99%

“…To accommodate this rule, the program calculates the stopping time, ts, and compares it with the time increment, ∆t, as shown in Eq. (11).…”

Section: Inverse Dynamics and Sliding Supporting Footmentioning

confidence: 99%

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Forward and Inverse Dynamics of the Biped PASIBOT

Corral

Meneses

Castejón

et al. 2014

International Journal of Advanced Robotic Systems

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This article addresses the supporting foot slippage of the biped robot PASIBOT and develops its forward and inverse dynamics for simple and double support phases. To address the slippage phenomenon, we consider an additional degree of freedom at the supporting foot and also distinguish between static and kinetic friction conditions. The inverse and forward dynamics, accounting for support foot slippage, are encoded in MATLAB. The algorithm predicts the motion of the biped from the torque function given by the biped's sole motor. Thus, the algorithm becomes an indispensable tool for studying transient states of the biped (for example, the torques required for starting and braking), as well as defining the conditions that prevent or control slippage. Since the developed code is parametric, its output can greatly assist in the design, optimization and control of PASIBOT and similar biped robots. The topology, kinematics and inverse dynamics of the one-degree-of-freedom biped PASIBOT have been previously described, but without regard to slippage between the supporting foot and the ground.

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Towards integrated walking and jumping motion planning in complex environments: Jumping trajectory generation

Heerden

Kawamura

2012

2012 12th IEEE International Workshop on Advanced Motion Control (AMC)

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This paper presents the initial research for a framework by which a biped robot can make a navigation plan in a obstacle filled environment by performing both walking and jumping motions. In particular this paper focuses on automatically creating a jumping trajectory based on the distance that the robot is required to jump. This jumping trajectory considers angular momentum so as to reduce backwards jumping and spinning of the base in the air, this is done with the Eulerian ZMP resolution method(EZR). Additionally this trajectory also considers compliance at the landing foot to avoid manipulator damage while ensuring that the robots support foot is extended just the right distance to let a inverted pendulum model with non constant height reach the top with zero kinetic energy remaining. The path planner is based on the A-Star path planning algorithm. The navigation plan also considers finding a path which is sufficiently straight prior to the moment of jumping so that the robot can build up the required linear momentum to execute the jump. The ultimate goal is to create a framework which can consider path planning with various types of motion.

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Maintaining floor-foot contact of a biped robot by force constraint position control

Cited by 8 publications

References 15 publications

Trajectory Planning of an Intermittent Jumping Quadruped Robot with Variable Redundant and Underactuated Joints

Trajectory Planning of an Intermittent Jumping Quadruped Robot with Variable Redundant and Underactuated Joints

Forward and Inverse Dynamics of the Biped PASIBOT

Towards integrated walking and jumping motion planning in complex environments: Jumping trajectory generation

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