Three-dimensional modelling of a humanoid in three planes and a motion scheme of biped turning in standing

Trajectory generation schemes for bipedal ascending and descending stairs using univariate dynamic encoding algorithm for searches (uDEAS)

“…The ZMP trajectories in the figures are calculated at each sampling time by the methodology proposed in [12] in a very efficient way not by deriving the complicated Jacobian equations. The ZMP trajectories stay in the Table 1.…”

“…In the present work, instead of using conventional kinematics, a simple and effective kinematics is employed based on the principle of projection [12]. Therefore, the projected links viewed from the sagittal plane are written as …”

“…This paper proposes a new trajectory generation scheme for bipedal descending with the enhancement of previous work on bipedal ascending. First, our robot model has become more elaborate by reflecting simultaneous changes in link lengths when projected onto the sagittal and coronal planes and by adding two joints in the transverse plane to enable arbitrary turning motions [12]. Second, by imposing several postural conditions for some phases, the calculation of target angles has been more straightforward.…”

Implementation of a Wireless Haptic Controller for Humanoid Robot Walking

“…In our recent work (Kim et al, 2009b), second-derivatives of the six joint coordinates in the lower body under actuation of the three-type joints have been derived like the following: 2 1 2 12 2 1 2 12 2 1 2 12 , , , , , , such that the swaying foot should land on the desired position, the tip of swaying foot should be always higher than the ground, all the joint motors should rotate within their rotation angle limits, and ZMP should be located inside the convex hull of supporting foot area as much as possible while walking. This work updates the previous ones by recalculating kinematics suited to the three-dimensional model and by elaborating the cost function for walking with variable speed.…”

“…This complexity in modeling, however, leads to an inevitable intricateness of deriving dynamics. We have been building the humanoid walking technologies by constructing the unique three-dimensional model, deriving its dynamics, generating motor trajectories that satisfy both stability and performance in biped walking and upstairs walking since 2007 (Kim & Kim, 2007;Kim et al, 2008a;Kim et al, 2009a;Kim et al 2009b). All the computer simulations were validated through implementation of walking with a small humanoid robot.…”