Trajectory Planning for the Walking Biped “Lucy”

Vermeulen, Jimmy; Lefeber, Dirk; Verrelst, Björn; Vanderborght, Bram

doi:10.1007/3-540-29461-9_66

Cited by 11 publications

(12 citation statements)

References 1 publication

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“…Currently, more advanced techniques are being developed and tested by means of a complete simulation model of Lucy, which incorporates pneumatic actuator dynamics. At high level is implemented a real-time dynamic walking trajectory generator which incorporates natural upper-body motion (Vermeulen, 2004;Vermeulen et al, 2004). For the joint tracking control two feed-forward structures are foreseen.…”

Section: First Steps Of Lucymentioning

confidence: 99%

The Pneumatic Biped ?Lucy? Actuated with Pleated Pneumatic Artificial Muscles

et al. 2005

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This paper reports on the bipedal robot Lucy which is actuated by pleated pneumatic artificial muscles. This novel actuator is very suitable to be used in machines which move by means of legs. Besides its high power to weight ratio the actuator has an adaptable passive behavior, meaning the stiffness of the actuator can be changed on-line. This allows to change the natural frequency of the system while controlling angular joint positions. The main control concept intended for Lucy is joint trajectory control while selecting appropriate actuator compliance characteristics in order to reduce control efforts and energy consumption which is of great importance towards the autonomy of legged robots. Presently Lucy has made her first steps with the implementation of basic control strategies.The pleated pneumatic artificial muscle and its characteristics will be discussed briefly and the design of Lucy which is made modular on mechanical as well as electronic hardware level will be described in detail. To pressurize the muscles, a lightweight valve system has been developed which will be presented together with the fundamental control aspects of a joint actuated with two antagonistically setup artificial muscles. Additionally the first experimental results will be shown and briefly discussed.

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Section: First Steps Of Lucymentioning

confidence: 99%

The Pneumatic Biped ?Lucy? Actuated with Pleated Pneumatic Artificial Muscles

et al. 2005

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“…The accuracy of the pressure measurement is approximately 20 mbar. One of the control philosophies intended for ''Lucy'' is to combine trajectory, control based on objective locomotion parameters [37,38], with the natural dynamics of the system. More specifically, the natural dynamics of the system will be adapted as a function of the objective parameters and the calculated joint trajectories.…”

Section: The Biped Lucymentioning

confidence: 99%

Control architecture for the pneumatically actuated dynamic walking biped “Lucy”

et al. 2005

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“…However, many models of bipedal walking, such as Kajita and Tanie's Linear Inverted Pendulum Model [3], treat the entire humanoid body as a point mass and do not incorporate the centroidal angular momentum, despite its significant influence in gait and balance [1], [5], [17].…”

Section: Introductionmentioning

confidence: 99%

Capture Point: A Step toward Humanoid Push Recovery

Pratt

Carff

Drakunov

et al. 2006

2006 6th IEEE-RAS International Conference on Humanoid Robots

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Abstract-It is known that for a large magnitude push a human or a humanoid robot must take a step to avoid a fall. Despite some scattered results, a principled approach towards "When and where to take a step" has not yet emerged.Towards this goal, we present methods for computing Capture Points and the Capture Region, the region on the ground where a humanoid must step to in order to come to a complete stop. The intersection between the Capture Region and the Base of Support determines which strategy the robot should adopt to successfully stop in a given situation.Computing the Capture Region for a humanoid, in general, is very difficult. However, with simple models of walking, computation of the Capture Region is simplified. We extend the wellknown Linear Inverted Pendulum Model to include a flywheel body and show how to compute exact solutions of the Capture Region for this model. Adding rotational inertia enables the humanoid to control its centroidal angular momentum, much like the way human beings do, significantly enlarging the Capture Region.We present simulations of a simple planar biped that can recover balance after a push by stepping to the Capture Region and using internal angular momentum. Ongoing work involves applying the solution from the simple model as an approximate solution to more complex simulations of bipedal walking, including a 3D biped with distributed mass.

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Trajectory Planning for the Walking Biped “Lucy”

Cited by 11 publications

References 1 publication

The Pneumatic Biped ?Lucy? Actuated with Pleated Pneumatic Artificial Muscles

The Pneumatic Biped ?Lucy? Actuated with Pleated Pneumatic Artificial Muscles

Control architecture for the pneumatically actuated dynamic walking biped “Lucy”

Capture Point: A Step toward Humanoid Push Recovery

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