Fast running experiments involving a humanoid robot
12 May 2009-pp 1418-1423
TL;DR: An implementation of fast running motions involving a humanoid robot using a motion generation and a balance control and a human-sized humanoid robot that can run forward at 7.0 [km/h] is presented.
Abstract: The present paper describes an implementation of fast running motions involving a humanoid robot. Two important technologies are described: a motion generation and a balance control. The motion generation is a unified way to design both walking and running and can generate the trajectory with the vertical conditions of the Center Of Mass (COM) in short calculation time. The balance control enables a robot to maintain balance by changing the positions of the contact foot dynamically when the robot is disturbed. This control consists of 1) compliance control without force sensors, in which the joints are made compliant by feed-forward torques and adjustment of gains of position control, and 2) feedback control, which uses the measured orientation of the robot's torso used in the motion generation as an initial condition to decide the foot positions. Finally, a human-sized humanoid robot that can run forward at 7.0 [km/h] is presented.
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01 Aug 2011
TL;DR: In this article, a hydraulically powered quadruped robot (HyQ) was developed to serve as a platform to study not only highly dynamic motions, such as running and jumping, but also careful navigat...
Abstract: A new versatile hydraulically powered quadruped robot (HyQ) has been developed to serve as a platform to study not only highly dynamic motions, such as running and jumping, but also careful navigat...
602 citations
09 May 2011
TL;DR: R2's integrated mechatronic design results in a more compact and robust distributed control system with a fraction of the wiring of the original Robonaut, making it a far more valuable tool for astronauts.
Abstract: NASA and General Motors have developed the second generation Robonaut, Robonaut 2 or R2, and it is scheduled to arrive on the International Space Station in early 2011 and undergo initial testing by mid-year. This state of the art, dexterous, anthropomorphic robotic torso has significant technical improvements over its predecessor making it a far more valuable tool for astronauts. Upgrades include: increased force sensing, greater range of motion, higher bandwidth, and improved dexterity. R2's integrated mechatronic design results in a more compact and robust distributed control system with a fraction of the wiring of the original Robonaut. Modularity is prevalent throughout the hardware and software along with innovative and layered approaches for sensing and control. The most important aspects of the Robonaut philosophy are clearly present in this latest model's ability to allow comfortable human interaction and in its design to perform significant work using the same hardware and interfaces used by people. The following describes the mechanisms, integrated electronics, control strategies, and user interface that make R2 a promising addition to the Space Station and other environments where humanoid robots can assist people.
408 citations
Cites methods from "Fast running experiments involving ..."
...The high speed serial communication structure is a custom protocol which utilizes Multi-drop Low Voltage Differential Signal (MLVDS) as the physical layer with bus speeds of 50Mbit....
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10 Oct 2009
TL;DR: Methods to decompose and synthesize a running gait pattern into vertical, horizontal and rotational components so that time-dependent ground friction limits are satisfied and running at 10 km/h is achieved on a real robot whose dimension are same as ASIMO.
Abstract: Bipedal running can easily result in a fall due to poor availability of the ground reaction force at the boundary of the flight and support phases. We propose methods to decompose and synthesize a running gait pattern into vertical, horizontal and rotational components so that time-dependent ground friction limits are satisfied. We also extend previously proposed boundary condition, the divergent component of motion, for switching walking gait patterns into running which involves vertical acceleration of the center of gravity. Using these techniques, running at 10 km/h is achieved on a real robot whose dimension are same as ASIMO.
285 citations
Cites background from "Fast running experiments involving ..."
...Trajectories satisfying this property is to switch dynamics constraints at the boundary of flight and support phases (Nagasaka et al. [4], Tajima et al. [5], Kwon et al. [13])....
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01 Nov 2014
TL;DR: This paper gives an overview on the torque-controlled humanoid robot TORO, which has evolved from the former DLR Biped, and describes its mechanical design and dimensioning, its sensors, electronics and computer hardware.
Abstract: This paper gives an overview on the torque-controlled humanoid robot TORO, which has evolved from the former DLR Biped. In particular, we describe its mechanical design and dimensioning, its sensors, electronics and computer hardware. Additionally, we give a short introduction to the walking and multi-contact balancing strategies used for TORO.
240 citations
Cites background from "Fast running experiments involving ..."
...Apart from academic research, the developments on biped walking were also largely influenced by company developments like Honda’s Asimo [8], Sony’s small scale humanoid robot [9], and Toyota’s partner robots [10]....
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01 Dec 2009
TL;DR: The design process, mechanical features, and electrical features with specifications of HRP-4C, a humanoid robot with a realistic head and a realistic figure of a human being, are introduced.
Abstract: The development of cybernetic human HRP-4C is presented in this paper. The word “Cybernetic Human” is a coinage for us to explain a humanoid robot with a realistic head and a realistic figure of a human being. HRP-4C stands for Humanoid Robotics Platform-4 (Cybernetic human). Standing 158 [cm] tall and weighting 43 [kg] (including batteries), with the joints and dimensions set to average values for young Japanese females, HRP-4C looks very human-like. This paper introduces the design process, mechanical features, and electrical features with specifications of HRP-4C.
230 citations
Cites background from "Fast running experiments involving ..."
...Since the second prototype HONDA humanoid robot: P2, was revealed in 1996, many human-size biped humanoid robots have been developed [4-16]....
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...Relation between Height and Weight of Current Biped Humanoid Robots [3-10,13-16] 100....
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References
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10 Nov 2003
TL;DR: A new method of a biped walking pattern generation by using a preview control of the zero-moment point (ZMP) is introduced and a preview controller can be used to compensate the ZMP error caused by the difference between a simple model and the precise multibody model.
Abstract: We introduce a new method of a biped walking pattern generation by using a preview control of the zero-moment point (ZMP). First, the dynamics of a biped robot is modeled as a running cart on a table which gives a convenient representation to treat ZMP. After reviewing conventional methods of ZMP based pattern generation, we formalize the problem as the design of a ZMP tracking servo controller. It is shown that we can realize such controller by adopting the preview control theory that uses the future reference. It is also shown that a preview controller can be used to compensate the ZMP error caused by the difference between a simple model and the precise multibody model. The effectiveness of the proposed method is demonstrated by a simulation of walking on spiral stairs.
2,090 citations
"Fast running experiments involving ..." refers methods in this paper
...Kajita employed preview control to keep the COM tracking on the desired ZMP trajectory[8]....
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Book•
26 Mar 1986TL;DR: Legged Robots that Balance as discussed by the authors describes the study of physical machines that run and balance on just one leg, including analysis, computer simulation, and laboratory experiments, and reveals that control of such machines is not particularly difficult.
Abstract: This book, by a leading authority on legged locomotion, presents exciting engineering and science, along with fascinating implications for theories of human motor control. It lays fundamental groundwork in legged locomotion, one of the least developed areas of robotics, addressing the possibility of building useful legged robots that run and balance.The book describes the study of physical machines that run and balance on just one leg, including analysis, computer simulation, and laboratory experiments. Contrary to expectations, it reveals that control of such machines is not particularly difficult. It describes how the principles of locomotion discovered with one leg can be extended to systems with several legs and reports preliminary experiments with a quadruped machine that runs using these principles.Raibert's work is unique in its emphasis on dynamics and active balance, aspects of the problem that have played a minor role in most previous work. His studies focus on the central issues of balance and dynamic control, while avoiding several problems that have dominated previous research on legged machines.Marc Raibert is Associate Professor of Computer Science and Robotics at Carnegie-Mellon University and on the editorial board of The MIT Press journal, "Robotics Research. Legged Robots That Balance" is fifteenth in the Artificial Intelligence Series, edited by Patrick Winston and Michael Brady.
2,044 citations
TL;DR: The paper gives an in-depth discussion of source results concerning ZMP, paying particular attention to some delicate issues that may lead to confusion if this method is applied in a mechanistic manner onto irregular cases of artificial gait, i.e. in the case of loss of dynamic balance of a humanoid robot.
Abstract: This paper is devoted to the permanence of the concept of Zero-Moment Point, widelyknown by the acronym ZMP. Thirty-five years have elapsed since its implicit presentation (actually before being named ZMP) to the scientific community and thirty-three years since it was explicitly introduced and clearly elaborated, initially in the leading journals published in English. Its first practical demonstration took place in Japan in 1984, at Waseda University, Laboratory of Ichiro Kato, in the first dynamically balanced robot WL-10RD of the robotic family WABOT. The paper gives an in-depth discussion of source results concerning ZMP, paying particular attention to some delicate issues that may lead to confusion if this method is applied in a mechanistic manner onto irregular cases of artificial gait, i.e. in the case of loss of dynamic balance of a humanoid robot. After a short survey of the history of the origin of ZMP a very detailed elaboration of ZMP notion is given, with a special review concerning “boundary cases” when the ZMP is close to the edge of the support polygon and “fictious cases” when the ZMP should be outside the support polygon. In addition, the difference between ZMP and the center of pressure is pointed out. Finally, some unresolved or insufficiently treated phenomena that may yield a significant improvement in robot performance are considered.
2,011 citations
"Fast running experiments involving ..." refers methods in this paper
...The stability of the motion of a legged robot is indicated by the assignments of the support foot and its Zero Moment Point (ZMP), which is calculated by the trajectory of the Center Of Mass (COM) and the angular momentum[6]....
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TL;DR: The concept of task priority in relation to the inverse kinematic problem of redundant robot manipulators is introduced and the effectiveness of the proposed redundancy control scheme is shown.
Abstract: In this paper, we describe a new scheme for redundancy control of robot manipulators. We introduce the concept of task priority in relation to the inverse kinematic problem of redundant robot manipulators. A required task is divided into subtasks according to the order of priority. We propose to determine the joint motions of robot manipulators so that subtasks with lower priority can be performed utilizing re dundancy on subtasks with higher priority. This procedure is formulated using the pseudoinverses of Jacobian matrices. Most problems of redundancy utilization can be formulated in the framework of tasks with the order of priority. The results of numerical simulations and experiments show the effectiveness of the proposed redundancy control scheme.
933 citations
"Fast running experiments involving ..." refers methods in this paper
...The task for swinging and supporting the foot is realized by the task-prioritized method[13]....
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