Trajectory generation and control for a biped robot walking upstairs

Park, Chan Soo; Ha, Tae‐Youl; Kim, Joohyung; Choi, Chong Ho

doi:10.1007/s12555-010-0220-x

Cited by 14 publications

(6 citation statements)

References 14 publications

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“…Then the deviations of the desired ZMP could be small as possible. 138 • In general, the compensating ankle torque can be modelled as a rotational spring and damper at foot-ground contact (see Fig. 7 and refs.…”

Section: Methods Description Commentsmentioning

confidence: 99%

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Multi-level control of zero-moment point-based humanoid biped robots: a review

et al. 2015

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SUMMARYResearchers dream of developing autonomous humanoid robots which behave/walk like a human being. Biped robots, although complex, have the greatest potential for use in human-centred environments such as the home or office. Studying biped robots is also important for understanding human locomotion and improving control strategies for prosthetic and orthotic limbs. Control systems of humans walking in cluttered environments are complex, however, and may involve multiple local controllers and commands from the cerebellum. Although biped robots have been of interest over the last four decades, no unified stability/balance criterion adopted for stabilization of miscellaneous walking/running modes of biped robots has so far been available. The literature is scattered and it is difficult to construct a unified background for the balance strategies of biped motion. The zero-moment point (ZMP) criterion, however, is a conservative indicator of stabilized motion for a class of biped robots. Therefore, we offer a systematic presentation of multi-level balance controllers for stabilization and balance recovery of ZMP-based humanoid robots.

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Section: Methods Description Commentsmentioning

confidence: 99%

“…7 and refs. [78,138]), or it can be computed from the force sensors located at biped feet (see ref. [139]).…”

Section: Methods Description Commentsmentioning

confidence: 99%

Multi-level control of zero-moment point-based humanoid biped robots: a review

et al. 2015

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“…휴머노이드 로봇은 두 발로 이동하는 특성을 통 해 다양한 환경에서 장애물을 회피하며 이동할 수 있는 장점을 갖고 있다. 지금까지 휴머노이드 로 봇의 이동과 관련하여 많은 연구들이 수행되었는 데 달리며 이동하는 움직임, (1) 두 팔과 다리로 기 어가는 움직임, (2) 울퉁불퉁한 지면 및 비탈면을 이 동하는 움직임, (3) 그리고 계단 등의 이동을 위한 움직임 (4) 등이 구현되어 있는 상황이다. 그러나 이 와 같은 연구들은 알려진 실내 환경 내에서만 로 봇의 움직임을 생성할 수 있다는 단점이 있으며, 알려지지 않은 환경에서 로봇이 주변 상황과 장애 물을 인식하고 이에 적합한 움직임을 스스로 생성 하여 이동하는 것과 관련한 연구는 현재 초보적인 수준에서 머물러 있는 상황이다.…”

Section: 서 론unclassified

Classification of Obstacle Shape for Generating Walking Path of Humanoid Robot

Park¹,

Kim²

2013

Transactions of the Korean Society of Mechanical Engineers A

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To generate the walking path of a humanoid robot in an unknown environment, the shapes of obstacles around the robot should be detected accurately. However, doing so incurs a very large computational cost. Therefore this study proposes a method to classify the obstacle shape into three types: a shape small enough for the robot to go over, a shape planar enough for the robot foot to make contact with, and an uncertain shape that must be avoided by the robot. To classify the obstacle shape, first, the range and the number of the obstacles is detected. If an obstacle can make contact with the robot foot, the shape of an obstacle is accurately derived. If an obstacle has uncertain shape or small size, the shape of an obstacle is not detected to minimize the computational load. Experimental results show that the proposed algorithm efficiently classifies the shapes of obstacles around the robot in real time with low computational load.

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“…By using (7) to calculate the distances between the pairs of the point in P s , the candidate clusters in Fig. 4(b) is obtained.…”

Section: Vertical Surface Extractionmentioning

confidence: 99%

“…Including one of the authors, many researchers for a humanoid robot have tried to generate the walking motion on the structured ground, such as the staircases whose dimensions are given [7]. When accurate stair dimensions are given, it is possible to generate walking trajectories for a biped robot on the stairs.…”

Section: Introductionmentioning

confidence: 99%

Ground height map generation for a humanoid robot in an unstructured environment

Park

Kim

You

et al. 2011

IECON 2011 - 37th Annual Conference of the IEEE Industrial Electronics Society

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This paper proposes a method to measure an accurate ground height map for a humanoid robot by using a laser scanner in an unstructured environment. To measure accurate dimensions of a surface or an obstacle, a 2D laser scanner is installed on the head of a humanoid robot, called MAHRU-1. By moving the head up and down, 3D depth map around a robot is obtained from the 2D range data. After obtaining the 3D depth map around a robot, a plane segmentation method is applied to the 3D data. At first, all the horizontal and vertical planes in the 3D point map are extracted, and the outliers are removed from the plane. After segmenting the plane from the 3D data, the dimensions and the area of the planes are calculated. The accuracy of the extracted surface is evaluated with experimental results, which show the effectiveness of proposed method to extract the surfaces in the unstructured environment.

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Trajectory generation and control for a biped robot walking upstairs

Cited by 14 publications

References 14 publications

Multi-level control of zero-moment point-based humanoid biped robots: a review

Multi-level control of zero-moment point-based humanoid biped robots: a review

Classification of Obstacle Shape for Generating Walking Path of Humanoid Robot

Ground height map generation for a humanoid robot in an unstructured environment

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