Realization of Biped Walking in Unstructured Environment Using Motion Primitives

Raković, Mirko; Borovać, Branislav; Nikolić, Milutin; Savic, Srdran

doi:10.1109/tro.2014.2344431

Cited by 19 publications

(13 citation statements)

References 28 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…In paper [5] the developed RAMP-based controller was presented in details. It allows humanoid robot to synthesize and adapt its walking behaviour on-line with respect to the current state of the environment.…”

Section: The Ramp-based Framework For Cooperative Transportationmentioning

confidence: 99%

“…Joint motion control module consists of two different non-linear controllers. In our previous work sliding mode controller with disturbance estimator was used for realization of reference motion, calculated in the dynamic balance controller [5]. In this paper this control is used for lower limbs and robot trunk, but it is extended with a compliant controller for robot arms, necessary for co-operative manipulation task.…”

Section: The Ramp-based Framework For Cooperative Transportationmentioning

confidence: 99%

“…Overall model of the system dynamics in the state space in controllability canonical form is represented in the following form: (16) Elements of the control input vector a for the legs and the trunk joints are calculated as described in [5], based on sliding mode control with disturbance estimator. Those elements of the control input vector, related to upper limbs are calculated from the desired joint-space impedance model eq.…”

Section: The Ramp-based Framework For Cooperative Transportationmentioning

confidence: 99%

“…In this work, for motion control of the follower robot, arms impedance controller on a walking robot was used, and that is supposed to realize two tasks at the same time, i. e. walking and co-operative transportation, which is similar to scenario when two subjects (humans and/or robots) are carrying an object together. The synthesis of dynamically balanced walk is based on reconfigurable motion primitives (RAMP) [5][6][7]. The control of the robot's upper-body is based on impedance control in order to enable the compliant arms motion required during the execution of co-operative transportation of an object.…”

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Hybrid motion control of humanoid robot for leader-follower cooperative tasks

et al. 2016

Self Cite

View full text Add to dashboard Cite

This paper presents a framework for leader-follower type cooperative transportation of an object by multiple humanoid robots or a single robot and a human. The emphasis in this paper is on the hybrid control algorithm and motion generation of the follower robot, while the influence of the leader has been simulated as external force acting on the follower's hands. The presented approach uses impedance controller to provide compliant behaviour of robot arms and it is an extension of our previous work on dual-mode impedance controller for safe humanrobot interaction. Synthesis of the follower's legs and trunk motion is based on the reconfigurable adaptive motion primitives, which are defined as simple, parameterized motion building blocks that can be combined in a sequence or in parallel to generate complex motion. It has been already proven that motion generation, based on reconfigurable adaptive primitives enables the robot to modify gait parameters online, at any time instant, and synthesize dynamically balanced walk. Motion of the follower is based on the reactive approach, where the gait parameters (walking velocity, direction and step length) depend on intensity and direction of the external force vector. Robot end-effectors are compliant in horizontal plain, adapting to the physical guidance of the leader, while being stiff in vertical direction in order to compensate the external force in negative z-direction. The proposed framework has been tested by numerical simulations involving a dynamic robot model.

show abstract

Section: The Ramp-based Framework For Cooperative Transportationmentioning

confidence: 99%

Section: The Ramp-based Framework For Cooperative Transportationmentioning

confidence: 99%

Section: The Ramp-based Framework For Cooperative Transportationmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Hybrid motion control of humanoid robot for leader-follower cooperative tasks

et al. 2016

Self Cite

View full text Add to dashboard Cite

show abstract

“…Traditionally, an accurate dynamic model of the considered robot should be built in order to implement the desired high-quality control [5,6]. The dynamic model of humanoid robots is a set of strong coupling nonlinear ordinary differential equations about the joint variables.…”

Section: Introductionmentioning

confidence: 99%

Data-Based Control for Humanoid Robots Using Support Vector Regression, Fuzzy Logic, and Cubature Kalman Filter

Wang

Chen

et al. 2016

Mathematical Problems in Engineering

View full text Add to dashboard Cite

Time-varying external disturbances cause instability of humanoid robots or even tip robots over. In this work, a trapezoidal fuzzy least squares support vector regression- (TF-LSSVR-) based control system is proposed to learn the external disturbances and increase the zero-moment-point (ZMP) stability margin of humanoid robots. First, the humanoid states and the corresponding control torques of the joints for training the controller are collected by implementing simulation experiments. Secondly, a TF-LSSVR with a time-related trapezoidal fuzzy membership function (TFMF) is proposed to train the controller using the simulated data. Thirdly, the parameters of the proposed TF-LSSVR are updated using a cubature Kalman filter (CKF). Simulation results are provided. The proposed method is shown to be effective in learning and adapting occasional external disturbances and ensuring the stability margin of the robot.

show abstract

Humanoid NAO: A Kinematic Encounter

Sahu

Parhi²,

Kumar³

et al. 2021

Robotica

View full text Add to dashboard Cite

SUMMARY In the current research, kinematic analysis of a humanoid NAO is attempted. Here, both Denavit–Hartenberg (DH) parameter approach and multibody formulation approach have been analyzed. In the DH parameter approach, the NAO robot is solved by separating it into five individual kinematic chains. In the multibody formulation approach, NAO is divided into 15 segments, and each segment is analyzed. Kinematic analysis holds a significant importance; as from the data obtained in the kinematic analysis, the robots can be designed for real-time path planning and navigation. The current analysis is a novel approach to analyze the NAO based on its kinematic constraints.

show abstract

Realization of Biped Walking in Unstructured Environment Using Motion Primitives

Cited by 19 publications

References 28 publications

Hybrid motion control of humanoid robot for leader-follower cooperative tasks

Hybrid motion control of humanoid robot for leader-follower cooperative tasks

Data-Based Control for Humanoid Robots Using Support Vector Regression, Fuzzy Logic, and Cubature Kalman Filter

Humanoid NAO: A Kinematic Encounter

Contact Info

Product

Resources

About