Walking strategy model based on zero moment point with single inverted pendulum approach in “T-FLoW” humanoid robot

Pristovani, R. Dimas; Henfri, B. Eko; Dewanto, Sanggar; Pramadihanto, Dadet

doi:10.1109/icitisee.2017.8285498

Cited by 15 publications

(5 citation statements)

References 8 publications

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“…The legged robot's kinematic or structure design influenced the movement heavily [7,8]. Following the robot's kinematics, the specific robot's walking trajectory may be developed [9,10]. Production of robot leg moving patterns uses the kinematic inverse approach from the desired coordinate points [11].…”

Section: Introductionmentioning

confidence: 99%

Heading control for quadruped stair climbing based on PD controller for the KRSRI competition

Alfathdyanto,

Darmawan,

Alasiry

et al. 2023

ELKHA

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Quadruped, a robot that resembles four-legged animals, is developed for many purposes, such as surveillance and rescue. Such a caveat requires the robot to have the capability to overcome various terrain and obstacles. When moving across such a landscape, it is essential to maintain the robot's orientation steadily. Inclined terrains such as stairs have posed another challenge to the control strategy as the robot is unstable while climbing. Therefore, the contribution of this work is to address the need for heading control because of the relatively longer stairs used for the current competition compared to the past. The proposed control system simultaneously maintains the heading while keeping the body stable. The inertial measurement unit sensor carried by the robot would provide the pose needed for heading control calculations. The robot's heading becomes the base for the PD controller calculation. The final pose that stabilizes the robot while tackling heading error is a combination of correction from the PD controller and the stabilization part of the control strategy. Then, the leg servo angle determination deployed the inverse kinematics calculation from the suitable robot pose. The proposed method enabled the designed robot to maintain its heading with a 4.4-degree margin of error and stabilize the body. The quadruped also completes the stair climbing at the shortest time of 20 seconds with a speed of up to 5.5 centimeters per second.

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Section: Introductionmentioning

confidence: 99%

Heading control for quadruped stair climbing based on PD controller for the KRSRI competition

Alfathdyanto,

Darmawan,

Alasiry

et al. 2023

ELKHA

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show abstract

“…According to its standard definition, the ZMP is located on the ground, which is useful in cases when the system is supported only on the ground and there are no external forces acting on the system at higher locations. Such scenarios have been thoroughly analyzed [ 14 , 15 , 16 , 17 , 18 , 19 , 20 , 21 , 22 ]. However, in situations that are very common in humanoid robotics, when the robot is supported at higher elevations, such as when it is sitting and supported by the bench or when it is either pushed or pulled by its hands, as shown in Figure 1 , the standard definition of the ZMP on the ground cannot be used.…”

Section: Introductionmentioning

confidence: 99%

Zero Moment Line—Universal Stability Parameter for Multi-Contact Systems in Three Dimensions

Brecelj

Petrič

2022

Sensors

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The widely used stability parameter, the zero moment point (ZMP), which is usually defined on the ground, is redefined, in this paper, in two different ways to acquire a more general form that allows its application to systems that are not supported only on the ground, and therefore, their support polygon does not extend only on the floor. This way it allows to determine the stability of humanoid and other floating-based robots that are interacting with the environment at arbitrary heights. In the first redefinition, the ZMP is represented as a line containing all possible ZMPs, called the zero moment line (ZML), while in the second redefinition, the ZMP is represented as the ZMP angle, i.e., the angle between the ZML and the vertical line, passing through the center of mass (COM) of the investigated system. The first redefinition is useful in situations when the external forces and their acting locations are known, while the second redefinition can be applied in situations when the COM of the system under study is known and can be tracked. The first redefinition of the ZMP is also applied to two different measurements performed with two force plates, two force sensors, and the Optitrack system. In the first measurement, a subject stands up from a bench and sits down while being pulled by its hands, while in the second measurement, two subjects stand still, hold on to two double handles, and lean backward. In both cases, the stability of the subjects involved in the measurements is investigated and discussed.

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“…22 Toward that end, several models have been adopted like the famous LIPM model, which simplifies the robot into a single point mass lying at the end of an inverted pendulum. [23][24][25][26] Some adaptations have been added to the concept like the double inverted pendulum model in which the lower and upper parts are treated like two connected inverted pendulums 27,28 and the flywheel addition that further complicates the model by considering rotational inertia for the pendulum end-point rather than just mass. A more versatile model for gait generation and perhaps the most widely used is the cart table model that basically simplifies the robot as a cart moving back and forth on a table at a constant height from the ground and introduces the zero moment point (ZMP) concept.…”

Section: Introductionmentioning

confidence: 99%

A performance comparison between closed form and numerical optimization solutions for humanoid robot walking pattern generation

Mohamed

Maged

Awad

2021

International Journal of Advanced Robotic Systems

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This article presents the modeling process of the lower part of a humanoid biped robot in terms of kinematic/dynamic states and the creation of a full dynamic simulation environment for a walking robot using MATLAB/Simulink. This article presents two different approaches for offline walking pattern generation: one relying on a closed-form solution of the linear inverted pendulum model (LIPM) mathematical model and another that considers numerical optimization as means of desired output trajectory following for a cart table state-space model. This article then investigates the possibility of introducing solution-dependent modifications to both approaches that could increase the reliability of basic walking pattern generation models in terms of smooth single support–double support phase transitioning and power consumption optimization. The algorithms were coded into offline walking pattern generators for NAO humanoid robot as a valid example and the two approaches were compared against each other in terms of stability, power consumption, and computational effort as well as against their basic unmodified counterparts.

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Walking strategy model based on zero moment point with single inverted pendulum approach in “T-FLoW” humanoid robot

Cited by 15 publications

References 8 publications

Heading control for quadruped stair climbing based on PD controller for the KRSRI competition

Heading control for quadruped stair climbing based on PD controller for the KRSRI competition

Zero Moment Line—Universal Stability Parameter for Multi-Contact Systems in Three Dimensions

A performance comparison between closed form and numerical optimization solutions for humanoid robot walking pattern generation

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