Real-time humanoid motion generation through ZMP manipulation based on inverted pendulum control

Sugihara, Tomomichi; Nakamura, Yoshihiko; Inoue, H.

doi:10.1109/robot.2002.1014740

Cited by 326 publications

(206 citation statements)

References 8 publications

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“…where p 0 ∈ R 3 and R 0 ∈ SO(3) are the position vector and attitude matrix of the base body with respect to , v 0 ∈ R 3 and ω 0 ∈ R 3 are the linear and angular velocities of the base body with respect to , 0 p i ∈ R 3 and 0 R i ∈ SO (3) (1)- (6), kinematic estimation of COM motion is computed as…”

Section: Forward Kinematics Of Commentioning

confidence: 99%

“…An efficacy of a controller design scheme for a biped robot based on the center of mass (COM) [1][2][3][4][5][6] has been acknowledged. COM captures the core dynamics in the whole body motion, so that it enables an intuitive design of the controller with low computation cost.…”

Section: Introductionmentioning

confidence: 99%

“…A crucial issue in the scheme is the motion (position and velocity) estimation of COM, since it is embedded in a feedback loop and has a large influence to the controller performance. For example, some biped robot controllers [1][2][3][4][5][6] and on-line walking motion planners [7,8] that use the current position and velocity of COM have been proposed. COM is a point defined from the mass distribution and the whole-body configuration of the robot, and cannot be directly measured.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

COM motion estimation of a biped robot based on kinodynamics and torque equilibrium

Masuya

Sugihara

2016

Advanced Robotics

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A novel technique to estimate motion of the center of mass (COM) for a biped robot is proposed. A Kalman filter is synthesized where the time evolution of COM is predicted from the external force and corrected based on kinematic estimation and torque equilibrium. They complementarily work to compensate the initial estimation offset, the error accumulation, and errors in modeled mass properties. It makes use of the authors' previous method to estimate the translational and rotational motion of the base body from inertial information and joint angle measurements. The information about torque equilibrium helps to reduce an uncertainty of the height of COM and to improve the estimation accuracy of it by utilizing an interference of the horizontal and vertical motion of COM. The parameters are tuned based on error analyses in mass properties and sensor signals. A comparative study showed a better performance of the proposed method than other methods through dynamics simulations. ARTICLE HISTORY

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Section: Forward Kinematics Of Commentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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COM motion estimation of a biped robot based on kinodynamics and torque equilibrium

Masuya

Sugihara

2016

Advanced Robotics

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“…3), which was used in balancing control of the first bipedal walking robots. The IP model approximates the basic behavior of the whole walking robot and is easy to handle with low computational efforts [SNI02].…”

Section: Control and Stability Of Bipedal Gaitsmentioning

confidence: 99%

Walking, Running and Kicking of Humanoid Robots and Humans

Stelzer

Stryk

2008

From Nano to Space

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Summary. In this paper key aspects and several methods for modeling, simulation, optimization and control of the locomotion of humanoid robots and humans are discussed. Similarities and differences between walking and running of humanoid robots and humans are outlined. They represent several, different steps towards the ultimate goals of understanding and predicting human motion by validated simulation models and of developing humanoid robots with human like performance in walking and running. Numerical and experimental results are presented for modelbased optimal control as well as for hardware-in-the-loop optimization of humanoid robot walking and for forward dynamics simulation and optimization of a human kicking motion.

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“…A lot of work model humanoid robot and its walking pattern by using Inverted Pendulum Model (IPM) [2][3]. In this model, the whole body is replaced with a concentrated mass located at the center of mass (CoM).…”

Section: Introductionmentioning

confidence: 99%