Modeling, stability and walking pattern generators of biped robots: a review

Al-Shuka, Hayder F. N.; Allmendinger, Felix; Corves, Burkhard; Zhu, Wen-Hong

doi:10.1017/s0263574713001124

Cited by 36 publications

(25 citation statements)

References 169 publications

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“…This section will describe two selected case used for dealing with (2). Moreover, the dynamic modeling, the constraints and the optimal trajectory planning of 7-link biped robot during complete gait cycle will be introduced.…”

Section: Methodsmentioning

confidence: 99%

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Finite Difference-Based Suboptimal Trajectory Planning of Biped Robot with Continuous Dynamic Response

Al-Shuka¹,

Corves²,

Vanderborght³

et al. 2013

IJMO

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Abstract-One of the clear problems encountered in the dynamic response of the biped robot is the discontinuity of the actuating torques/ground reaction forces at the transition instances during transferring form single support phase to double support phase and vice versa. Therefore, this paper suggests the linear transition function used in the biomechanics field for estimating the ground reaction forces during the double support phase such that gradual increase/decrease of the ground reaction forces can occur. The closure loop of the biped robot at the transition instances during DSP can be broken using the mentioned strategy. Consequently, the continuous dynamic response can be achieved. Two cases are simulated using the optimal control theory. The inverse dynamics-based optimization is preferred as a direct suboptimal tool because it can show less computation and easinessthan other optimal control approaches. Due to easiness of the finite difference approach, it is used for discretization of the dynamic equations and the imposed constraints to convert the dynamic optimal control problem into parameter optimization. The simulated case 1 have been used repeatedly in the literature, whereas the case 2 adopts the linear transition function of the ground reaction forces keeping the same generalized coordinates of the biped configuration at the transition instances. The results show the superiority of the suggested method to guarantee continuous actuating torques/ground reaction forces at the transition instances.

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Section: Methodsmentioning

confidence: 99%

“…Numerous approaches have been used to generate the motion of the biped robot as detailed in [2]. However, there are two efficient methods used for this purpose: center of gravity (COG)-based gait and the optimization-based gait.…”

Section: Introductionmentioning

confidence: 99%

Finite Difference-Based Suboptimal Trajectory Planning of Biped Robot with Continuous Dynamic Response

Al-Shuka¹,

Corves²,

Vanderborght³

et al. 2013

IJMO

Self Cite

View full text Add to dashboard Cite

show abstract

“…Robot kinematics is fully expressed by Eqs. (4) to (7). But, the system still has 8 degrees of redundancy.…”

Section: Derivation Of the Kinematic Equationsmentioning

confidence: 99%

Employing a Novel Gait Pattern Generator on a Social Humanoid Robot

2019

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This paper presents a novel Gait Pattern Generator (GPG) developed for the \Alice" social humanoid robot, which up to now lacked an appropriate walking pattern. Due to the limitations of this robot, the proposed gate pattern generator was formulated based on a nine-mass model to decrease the modeling errors and the inverse kinematics of the whole lower-body was solved in such a way that the robot remained statically stable during the movements. The main challenge of this work was to solve the inverse kinematics of a 7-link chain with 12 degrees of freedom. For this purpose, a new graphical-numerical technique has been provided using the de nition of the kinematic equations of the robot joints' Cartesian coordinates. This method resulted in a signi cant increase in the solution rate of calculations. Finally, a novel algorithm was developed for step-by-step displacement of the robot towards a desired destination in a two-dimensional space. Performance of the proposed gate pattern generator was evaluated both with a model of the robot in a MATLAB Simulink environment and in real experiments with the Alice humanoid robot.

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“…During the past few years, there has been a large research attempt in improving the design of humanoid biped robots and produce setups with motion capabilities inspired by the smoothness, accuracy and compliance that characterize the human lower-limb motion [1][2][3]. To that goal, the use of inherently compliant materials in structures and actuators, characterized by flexibility and biomimetic attributes, has been an increasing interest of researchers and manufacturers.…”

Section: Introductionmentioning

confidence: 99%

HUmanoid Robotic Leg via pneumatic muscle actuators: implementation and control

Ανδρικόπουλος

Nikolakopoulos

2017

Meccanica

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In this article, a HUmanoid Robotic Leg (HURL) via the utilization of pneumatic muscle actuators (PMAs) is presented. PMAs are a pneumatic form of actuation possessing crucial attributes for the implementation of a design that mimics the motion characteristics of a human ankle. HURL acts as a feasibility study in the conceptual goal of developing a 10 degree-of-freedom (DoF) lower-limb humanoid for compliance and postural control, while serving as a knowledge basis for its future alternative use in prosthetic robotics. HURL's design properties are described in detail, while its 2-DoF motion capabilities (dorsiflexion-plantar flexion, eversion-inversion) are experimentally evaluated via an advanced nonlinear PID-based control algorithm.

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Modeling, stability and walking pattern generators of biped robots: a review

Cited by 36 publications

References 169 publications

Finite Difference-Based Suboptimal Trajectory Planning of Biped Robot with Continuous Dynamic Response

Finite Difference-Based Suboptimal Trajectory Planning of Biped Robot with Continuous Dynamic Response

Employing a Novel Gait Pattern Generator on a Social Humanoid Robot

HUmanoid Robotic Leg via pneumatic muscle actuators: implementation and control

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