Optimized 3D stable walking of a bipedal robot with line-shaped massless feet and sagittal underactuation

Chen, Z.; Elyaaqoubi, Nafissa Lakbakbi; Abba, Gabriel

doi:10.1016/j.robot.2016.05.003

Cited by 4 publications

(2 citation statements)

References 22 publications

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“…In [55] TO problem designed as an optimal control where the OC problem solved by framework MUSCODII. The authors in [56] used a sthenic criteria is used to solve the TO problem. Genetic algorithm is used to generate OT in [1].…”

Section: Discussionmentioning

confidence: 99%

Trajectory Optimization in Robotic Applications, Survey of Recent Developments

Almasri¹,

Mk²

2021

Preprint

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Trajectory Optimization (TO) is the sequence of processes that are considered in order to produce the best path that mends the overall performance or reduces the consumption of the resources where the restriction system remains maintained. In this survey, an inclusive review of the latest advancements in modeling and optimization of trajectory generation in robotic applications will be discussed broadly. In recent times, numerous studies have employed optimal control techniques involving direct and indirect methods in order to convert the authentic Trajectory Optimization problem into a constrained parameter optimization problem. Moreover, a huge variety of optimization algorithms such as Genetic Algorithms (GA), Simulated Annealing (SA), Sequential Quadratic Programming (SQP), and Particle Swarm Optimization (PSO) are used aiming to find the optimal solutions for trajectory planning. It is observable that, minimizing the jerk, energy consumption, and execution time among the most widely used design objectives, on the other hand, the robot’s joints configurations and the motor torques are the most used design variables. This paper aims to review the fundamental techniques and their coincident robotic applications in the field of trajectory optimization aiming to afford some steering for related researchers.

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Section: Discussionmentioning

confidence: 99%

Trajectory Optimization in Robotic Applications, Survey of Recent Developments

Almasri¹,

Mk²

2021

Preprint

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“…In the pioneering work [24], based on the methods of virtual constraints and zero dynamics, the periodic gait of a five‐link underactuated 3‐D biped was obtained by solving a constrained nonlinear optimization problem. In another very interesting work [33], a similar approach was successfully applied in an underactuated 3‐D biped with line‐shaped feet. In these works, the time cost of the gait planning is not the main focus, and the periodicity constraints of the gait were achieved by a direct parameter optimization search, which may be not efficient [31].…”

Section: Introductionmentioning

confidence: 99%

Modification‐based periodic gait planning for a 3‐D bipedal robot with two underactuated DOFs

Yuan

Gan

2020

Asian Journal of Control

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This work considers the periodic gait planning of a 3‐D bipedal robot with two underactuated DOFs. Instead of planning a periodic gait by a traditional direct parameter optimization search, which is usually time‐consuming, we present a novel modification‐based periodic motion planning method, which consists of two steps. Firstly, an initial gait is obtained by relaxing the periodicity constraints in the optimization search. Then, the initial gait is modified to be a periodic one. To achieve a successful gait modification, the gait modification theory is firstly presented, and a gait modification strategy is then proposed. Finally, the presented method is illustrated on the underactuated 3‐D biped, and a comparative simulation study is provided. It is shown that, compared with the traditional method, the time cost in the presented method is significantly reduced.

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Self-synchronization and self-stabilization of 3D bipedal walking gaits

Chevallereau

Razavi

Six

et al. 2018

Robotics and Autonomous Systems

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This paper seeks insight into stabilization mechanisms for periodic walking gaits in 3D bipedal robots. Based on this insight, a control strategy based on virtual constraints, which imposes coordination between joints rather than a temporal evolution, will be proposed for achieving asymptotic convergence toward a periodic motion. For planar bipeds with one degree of underactuation, it is known that a vertical displacement of the center of mass-with downward velocity at the step transitioninduces stability of a walking gait. This paper concerns the qualitative extension of this type of property to 3D walking with two degrees of underactuation. It is shown that a condition on the position of the center of mass in the horizontal plane at the transition between steps induces synchronization between the motions in the sagittal and frontal planes. A combination of the conditions for self-synchronization and vertical oscillations leads to stable gaits. The algorithm for self-stabilization of 3D walking gaits is first developed for a simplified model of a walking robot (an inverted pendulum with variable length legs), and then it is extended to a complex model of the humanoid robot Romeo using the notion of Hybrid Zero Dynamics. Simulations of the model of the robot illustrate the efficacy of the method and its robustness.

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Optimized 3D stable walking of a bipedal robot with line-shaped massless feet and sagittal underactuation

Cited by 4 publications

References 22 publications

Trajectory Optimization in Robotic Applications, Survey of Recent Developments

Trajectory Optimization in Robotic Applications, Survey of Recent Developments

Modification‐based periodic gait planning for a 3‐D bipedal robot with two underactuated DOFs

Self-synchronization and self-stabilization of 3D bipedal walking gaits

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