Velocity-Based Gait Planning for Underactuated Bipedal Robot on Uneven and Compliant Terrain

Yao, Daojin; Yang, Lin; Xiao, Xiaohui; Zhou, MengChu

doi:10.1109/tie.2021.3125671

Cited by 13 publications

(8 citation statements)

References 33 publications

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“…However, the majority only used either slopes, steps or random bricks [3, 4, 76-81, 83-89, 91, 93-102, 104, 107]. Only six more terrains where found: stairs [80,89,92], rocky terrain replica [105], ditch [89], soft terrain [103,106] and grassland [93,107]. The most complete approach considering several terrains was the DARPA challenge [93], in which humanoid robots were challenged to go through level, rough and sloped terrains, loose soil, rocks, and natural-like obstacles such as bushes, trees and ditches.…”

Section: Methodological Aspectsmentioning

confidence: 99%

“…Among them, the foot length and width and the step length showed good potential to be applicable across robotic systems. Walking speed was also taken as a velocity stability criterion [103]. In another work [76], a stable run was defined and compared between controllers by looking at the robot angular acceleration, which was the result of reading robot vibration that tends to be stable.…”

Section: Scientific Evidencementioning

confidence: 99%

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Legged locomotion over irregular terrains: state of the art of human and robot performance

et al. 2022

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Legged robotic technologies have moved out of the lab to operate in real environments, characterized by a wide variety of unpredictable irregularities and disturbances, all this in close proximity with humans. Demonstrating the ability of current robots to move robustly and reliably in these conditions is becoming essential to prove their safe operation. Here, we report an in-depth literature review aimed at verifying the existence of common or agreed protocols and metrics to test the performance of legged system in realistic environments. We primarily focused on three types of robotic technologies, i.e., hexapods, quadrupeds and bipeds. We also included a comprehensive overview on human locomotion studies, being it often considered the gold standard for performance, and one of the most important sources of bioinspiration for legged machines. We discovered that very few papers have rigorously studied robotic locomotion under irregular terrain conditions. On the contrary, numerous studies have addressed this problem on human gait, being nonetheless of highly heterogeneous nature in terms of experimental design. This lack of agreed methodology makes it challenging for the community to properly assess, compare and predict the performance of existing legged systems in real environments. On the one hand, this work provides a library of methods, metrics and experimental protocols, with a critical analysis on the limitations of the current approaches and future promising directions. On the other hand, it demonstrates the existence of an important lack of benchmarks in the literature, and the possibility of bridging different disciplines, e.g., the human and robotic, towards the definition of standardized procedures that will boost not only the scientific development of better bioinspired solutions, but also their market uptake.

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Section: Methodological Aspectsmentioning

confidence: 99%

Section: Scientific Evidencementioning

confidence: 99%

Legged locomotion over irregular terrains: state of the art of human and robot performance

et al. 2022

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“…Rosa et al [23] constructed implicitly defined manifolds of feasible periodic gaits within a state-timecontrol space that parameterizes the biped's hybrid trajectories. Yao et al [24] employed a linear spring-damper model to describe foot-ground compliant contact and establish a decoupled robot-ground three-dimensional dynamic mode. The hybrid zero dynamic gait planning method needs to establish a complex nonlinear model for the biped robot, but it is generally difficult to establish an accurate mathematical model for the biped robot with a complex structure.…”

Section: Hybrid Zero Dynamic Gait Planningmentioning

confidence: 99%

M-A3C: A Mean-Asynchronous Advantage Actor-Critic Reinforcement Learning Method for Real-Time Gait Planning of Biped Robot

Leng

Fan²,

Tang

et al. 2022

IEEE Access

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Bipedal walking is a challenging task for humanoid robots. In this study, we develop a lightweight reinforcement learning method for real-time gait planning of the biped robot. We regard bipedal walking as a process in which the robot constantly interacts with the environment, judges the quality of control action through the walking state, and then adjusts the control strategy. A mean-asynchronous advantage actor-critic (M-A3C) reinforcement learning algorithm is proposed to obtain the continuous state space and action space, and directly obtain the final gait of the robot without introducing the reference gait. We use multiple sub-agents of M-A3C algorithm to train multiple virtual robots independently at the same time in the physical simulation platform. Then we transfer the trained model to the walking control of the actual robot to reduce the number of training on the actual robot, improve the training speed, and ensure the acquisition of the final gait. Finally, a biped robot is designed and fabricated to verify the effectiveness of the proposed method. Various experiments show that the proposed method can achieve the biped robot's continuous and stable gait planning.

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“…First, it is achievable to prove the stability of the closed loop system, and second, high speed walking of the robot is possible. In addition, methods based on this approach have been developed for walking on rough terrain [23], and 3D walking [24] and underactuated uneven terrain [25]. Although uneven surfaces are considered for underactuated models in [25], the general rule of control and comprehensive proof of stability is not provided.…”

Section: Introductionmentioning

confidence: 99%

“…In addition, methods based on this approach have been developed for walking on rough terrain [23], and 3D walking [24] and underactuated uneven terrain [25]. Although uneven surfaces are considered for underactuated models in [25], the general rule of control and comprehensive proof of stability is not provided. Also, the design is done without considering the constraints and limitations.…”

Section: Introductionmentioning

confidence: 99%

Double hyperbolic sliding mode control of a three‐legged robot with actuator constraints

Ghoreishi

Ehyaei

Rahmani

2022

IET Control Theory & Appl

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This paper proposes an anti-wind up double hyperbolic sliding mode controller (AWDH-SMC) in the presence of torque constraints for a three-legged robot. The legged robot's dynamics are nonlinear, hybrid and complex. Based on the challenges mentioned, this study focuses on designing a sliding mode controller (SMC) for a fully actuated three-legged robot to achieve fast tracking and convergence. On the other hand, the torques generated by the actuators are limited. As a result, not only must the controller be fast so that the robot's balance is not disturbed, but it must also withstand applied torque constraints. Therefore, the double hyperbolic sliding mode controller is designed at first for fast tracking and convergence. Next, an anti-wind up compensator is used to apply torque constraints. Finally, using the theory of multiple Lyapunov functions, the stability of the closed-loop control system for the hybrid model of legged-robot is analyzed. Simulation results validate the effectiveness of the proposed control scheme.

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Velocity-Based Gait Planning for Underactuated Bipedal Robot on Uneven and Compliant Terrain

Cited by 13 publications

References 33 publications

Legged locomotion over irregular terrains: state of the art of human and robot performance

Legged locomotion over irregular terrains: state of the art of human and robot performance

M-A3C: A Mean-Asynchronous Advantage Actor-Critic Reinforcement Learning Method for Real-Time Gait Planning of Biped Robot

Double hyperbolic sliding mode control of a three‐legged robot with actuator constraints

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