Sensor Data Fusion for Body State Estimation in a Bipedal Robot and Its Feedback Control Application for Stable Walking

Chen, Ching-Pei; Chen, Jingyi; Huang, Chun‐Kai; Lu, Jau-Ching; Lin, Pei-Chun

doi:10.3390/s150304925

Cited by 7 publications

(4 citation statements)

References 33 publications

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“…Position sensors on the motors provide data during locomotion that are key for both current state identification during the gait and biped robot further steps planning. Chen et al [146] described a joint sensor system with a Kalman filter for the feedback control of the walking robot.…”

Section: Sensor Systemsmentioning

confidence: 99%

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Recent Advances in Bipedal Walking Robots: Review of Gait, Drive, Sensors and Control Systems

Mikołajczyk

Mikołajewska

Al-Shuka

et al. 2022

Sensors

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Currently, there is an intensive development of bipedal walking robots. The most known solutions are based on the use of the principles of human gait created in nature during evolution. Modernbipedal robots are also based on the locomotion manners of birds. This review presents the current state of the art of bipedal walking robots based on natural bipedal movements (human and bird) as well as on innovative synthetic solutions. Firstly, an overview of the scientific analysis of human gait is provided as a basis for the design of bipedal robots. The full human gait cycle that consists of two main phases is analysed and the attention is paid to the problem of balance and stability, especially in the single support phase when the bipedal movement is unstable. The influences of passive or active gait on energy demand are also discussed. Most studies are explored based on the zero moment. Furthermore, a review of the knowledge on the specific locomotor characteristics of birds, whose kinematics are derived from dinosaurs and provide them with both walking and running abilities, is presented. Secondly, many types of bipedal robot solutions are reviewed, which include nature-inspired robots (human-like and birdlike robots) and innovative robots using new heuristic, synthetic ideas for locomotion. Totally 45 robotic solutions are gathered by thebibliographic search method. Atlas was mentioned as one of the most perfect human-like robots, while the birdlike robot cases were Cassie and Digit. Innovative robots are presented, such asslider robot without knees, robots with rotating feet (3 and 4 degrees of freedom), and the hybrid robot Leo, which can walk on surfaces and fly. In particular, the paper describes in detail the robots’ propulsion systems (electric, hydraulic), the structure of the lower limb (serial, parallel, mixed mechanisms), the types and structures of control and sensor systems, and the energy efficiency of the robots. Terrain roughness recognition systems using different sensor systems based on light detection and ranging or multiple cameras are introduced. A comparison of performance, control and sensor systems, drive systems, and achievements of known human-like and birdlike robots is provided. Thirdly, for the first time, the review comments on the future of bipedal robots in relation to the concepts of conventional (natural bipedal) and synthetic unconventional gait. We critically assess and compare prospective directions for further research that involve the development of navigation systems, artificial intelligence, collaboration with humans, areas for the development of bipedal robot applications in everyday life, therapy, and industry.

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Section: Sensor Systemsmentioning

confidence: 99%

“…Zieli ńska described four coupled oscillators generating real-time outputs similar to human gait [57]. Chen et al [146] presented sensor data fusion for the state of body estimation in stable walking using feedback control. Klein and Lewis provided a neuro robotic model based on Golgi tendon organs, and spiking neural networks [147].…”

mentioning

confidence: 99%

Recent Advances in Bipedal Walking Robots: Review of Gait, Drive, Sensors and Control Systems

Mikołajczyk

Mikołajewska

Al-Shuka

et al. 2022

Sensors

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“…Moreover, this technique requires the integration of force sensing modules in the robot foot, which may not always be available/feasible. Another alternative method to compute the ZMP is from the variation of different joint angles 24,25 . In such technique, the robot is mainly modeled by an inverted pendulum system with simple joints and links [26][27][28][29] .…”

Section: Introductionmentioning

confidence: 99%

A Novel Low-Cost ZMP Estimation Method for Humanoid Gait using Inertial Measurement Devices: Concept and Experiments

Das

Chemori

Kumar

2023

Int. J. Human. Robot.

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Estimation and control of zero-moment point (ZMP) is a widely used concept for planning the locomotion of bipedal robots and is commonly measured using integrated joint angle encoders and foot force sensors. Contemporary methods for ZMP measurement involve built-in contact sensors such as joint encoders or instrumented foot force sensors. This paper presents a novel approach for computing ZMP for a humanoid robot using inertial sensor-based wireless foot sensor modules (WFSMs). The developed WFSMs, strapped at different limb segments of a bipedal robot, measure lower limb joint angles in real time. The joint angle trajectories, further transformed into Cartesian position coordinates, are used for estimating the ZMP positions of humanoid robots using the planar biped model. The whole framework is presented through experimental studies for different real-life walking scenarios. Since the modules work based on the limb motion and inclination, any ground unevenness would be automatically reflected in the module output. Hence, this measurement process can be a convenient method for applications requiring humanoid control on uneven surfaces/outdoor terrains. To compare the performance of the proposed model, ZMP is simultaneously measured from inbuilt foot force sensors and joint encoders of the robot. Statistical tests exhibit a high linear correlation between the proposed method with integrated encoders and foot force sensors (Pearson’s coefficient, [Formula: see text]). Results indicate that ZMP estimated by WFSM is a viable method to monitor the dynamic gait balance of a humanoid robot and has potential application in outdoor and uneven terrains.

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“…Robot-environment interaction is common in robotics applications [ 1 ], such as grasping and manipulating objects [ 2 ], bipedal walking [ 3 ], etc . A tactile sensors is a device or system capable of measuring the contact parameters between the sensor and an object [ 4 ], such as contact force and slippage, and provide an important approach for robots to sense the environment, like the sense of touch in humans.…”

Section: Introductionmentioning

confidence: 99%

A Novel Tactile Sensor with Electromagnetic Induction and Its Application on Stick-Slip Interaction Detection

Liu

Han

Liu

et al. 2016

Sensors

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Real-time detection of contact states, such as stick-slip interaction between a robot and an object on its end effector, is crucial for the robot to grasp and manipulate the object steadily. This paper presents a novel tactile sensor based on electromagnetic induction and its application on stick-slip interaction. An equivalent cantilever-beam model of the tactile sensor was built and capable of constructing the relationship between the sensor output and the friction applied on the sensor. With the tactile sensor, a new method to detect stick-slip interaction on the contact surface between the object and the sensor is proposed based on the characteristics of friction change. Furthermore, a prototype was developed for a typical application, stable wafer transferring on a wafer transfer robot, by considering the spatial magnetic field distribution and the sensor size according to the requirements of wafer transfer. The experimental results validate the sensing mechanism of the tactile sensor and verify its feasibility of detecting stick-slip on the contact surface between the wafer and the sensor. The sensing mechanism also provides a new approach to detect the contact state on the soft-rigid surface in other robot-environment interaction systems.

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Sensor Data Fusion for Body State Estimation in a Bipedal Robot and Its Feedback Control Application for Stable Walking

Cited by 7 publications

References 33 publications

Recent Advances in Bipedal Walking Robots: Review of Gait, Drive, Sensors and Control Systems

Recent Advances in Bipedal Walking Robots: Review of Gait, Drive, Sensors and Control Systems

A Novel Low-Cost ZMP Estimation Method for Humanoid Gait using Inertial Measurement Devices: Concept and Experiments

A Novel Tactile Sensor with Electromagnetic Induction and Its Application on Stick-Slip Interaction Detection

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