Real-Time Gait Planning for Pushing Motion of Humanoid Robot

Motoi, Naoki; Ikebe, M.; Ohnishi, Kouhei

doi:10.1109/tii.2007.898469

Cited by 35 publications

(8 citation statements)

References 24 publications

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“…The dynamic stability of a humanoid robot under an external force has also been treated in the case where the humanoid robot is walking (Harada et al, 2004;Komura et al, 2005;Motoi et al, 2007). Sustaining the dynamic stability during walking is more difficult than during standing because both the walking itself and the external force disturb the stability of the humanoid robot.…”

Section: Introductionmentioning

confidence: 99%

Step-exchange strategy for balance control of a walking biped under a lateral impact

Kim

Lee

2014

Industrial Robot: An International Journal

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Purpose – This paper aims to present a step-exchange strategy for balance control of a walking biped robot when a lateral impact acts suddenly. A step-out strategy has been recently proposed for balance control when an unknown lateral force acts to a biped robot during walking. This step-out strategy causes a robot to absorb the impact kinetic energy and efficiently maintain balance without falling down. Nevertheless, it was found that the previous strategies have drawbacks that the two foots should always be on the ground (double-support mode) after being balanced and the authors think it is difficult to continue walking after being balanced. Unlike the existing balance strategies, the proposed step-exchange strategy is to not only maintain balance but also to lift one leg in the air (single-support mode) after being balanced so that it is easy for a biped robot to keep walking after being balanced. Design/methodology/approach – In the proposed step-exchange strategy, forward Newton–Euler equation, angular momentum and energy conservation equation were derived. Hill-climbing algorithm is utilized for numerically finding a solution. To verify the proposed strategy, a biped robot by Open Dynamics Engine was stimulated, and experiments with a real biped robot (LRH-1) were also conducted. Findings – The proposed step-exchange strategy enables a walking biped robot under a lateral impact to keep balance and to keep a single-support mode after exchanging a leg. It is helpful for a biped robot to continue walking without any stop. It is found that the proposed step-exchange strategy can be applicable for maintaining balance even if a biped robot is moving. Even though this proposal seems immature yet, it is the first attempt to exchange the supporting foot itself. This strategy is very straightforward and intuitive because humans are also likely to exchange their supporting foot onto the opposite side when an unexpected force is acting. Research limitations/implications – The proposed step-exchange strategy described in this paper can be applicable in the situation when the external force is applied in the +Y direction, the left leg is the swing leg and the right leg is the stance leg, or it can also be applicable in the situation when the external force is applied in −Y direction, the right leg is the swing leg and the left leg is the stance leg (Figure 2 for ±Y force direction). If an impact force acts to the side of the swing leg, the other step-exchange strategy is needed. The authors are studying this issue as a future work. Originality/value – The authors have originated the proposed step-exchange strategy for balance control of a walking biped robot under lateral impact. The strategy is genuine and superior in comparison with the state-of-the-art strategy because not only can a biped robot be balanced but it can also easily continue walking by using the step-exchange strategy.

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Section: Introductionmentioning

confidence: 99%

Step-exchange strategy for balance control of a walking biped under a lateral impact

Kim

Lee

2014

Industrial Robot: An International Journal

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“…Pratt et al 17 suggested a capture point to compensate for and stabilize a biped robot in a sudden angular velocity situation by using the step out strategy. Motoi et al 18 suggested real-time gait planning for the pushing motion of a humanoid robot by using the inverted pendulum model. Harada et al 19 designed a walking motion to manipulate the pushing motion to a humanoid robot.…”

Section: Introductionmentioning

confidence: 99%

A force-resisting balance control strategy for a walking biped robot under an unknown, continuous force

Kim

Lee

2014

Robotica

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SUMMARYIn this paper, we propose and examine a force-resisting balance control strategy for a walking biped robot under the application of a sudden unknown, continuous force. We assume that the external force is acting on the pelvis of a walking biped robot and that the external force in the z-direction is negligible compared to the external forces in the x- and y-directions. The main control strategy involves moving the zero moment point (ZMP) of the walking robot to the center of the robot's sole resisting the externally applied force. This strategy is divided into three steps. The first step is to detect an abnormal situation in which an unknown continuous force is applied by examining the position of the ZMP. The second step is to move the ZMP of the robot to the center of the sole resisting the external force. The third step is to have the biped robot convert from single support phase (SSP) to double support phase (DSP) for an increased force-resisting capability. Computer simulations and experiments of the proposed methods are performed to benchmark the suggested control strategy.

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“…Using GP, it is difficult to develop optimal polynomial models for time-varying systems whose structures or coefficients vary over time while the diversity of individuals in a population is low. Timevarying characteristics can commonly be found in many industrial systems [6,22,41,44,57,66,36,34]. To develop models for time-varying environments, Wagner et al [60] developed a GP approach in which a varying window for capturing significant time series is proposed to generate time series models based on time series data.…”

Section: Introductionmentioning

confidence: 99%

Polynomial modeling for time-varying systems based on a particle swarm optimization algorithm

Chan

Dillon

Kwong

2011

Information Sciences

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a b s t r a c tIn this paper, an effective particle swarm optimization (PSO) is proposed for polynomial models for time varying systems. The basic operations of the proposed PSO are similar to those of the classical PSO except that elements of particles represent arithmetic operations and variables of time-varying models. The performance of the proposed PSO is evaluated by polynomial modeling based on various sets of time-invariant and time-varying data. Results of polynomial modeling in time-varying systems show that the proposed PSO outperforms commonly used modeling methods which have been developed for solving dynamic optimization problems including genetic programming (GP) and dynamic GP. An analysis of the diversity of individuals of populations in the proposed PSO and GP reveals why the proposed PSO obtains better results than those obtained by GP.

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Real-Time Gait Planning for Pushing Motion of Humanoid Robot

Cited by 35 publications

References 24 publications

Step-exchange strategy for balance control of a walking biped under a lateral impact

Step-exchange strategy for balance control of a walking biped under a lateral impact

A force-resisting balance control strategy for a walking biped robot under an unknown, continuous force

Polynomial modeling for time-varying systems based on a particle swarm optimization algorithm

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