Whole body motion pattern generation for biped humanoid robots
01 Nov 2012-pp 142-147
TL;DR: This paper describes a method of whole body motion pattern generation for biped humanoid robots on the basis of preview control and compensatory motion control that enables the robot to walk with arm swings.
Abstract: This paper describes a method of whole body motion pattern generation for biped humanoid robots. The walking pattern is generated on the basis of preview control and compensatory motion control. It enables the robot to walk with arm swings. According to the waist motion, hand motion, and foot motion, the angles of the whole body are calculated by inverse kinematics. In order to verify the effectiveness of the pattern generation method, the simulation of the whole body motion is conducted by using Adams and MATLAB/Simulink.
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Proceedings Article•
01 Jan 2003
125 citations
01 Oct 2013
TL;DR: In this article, a biped humanoid robot is used to walk stably on the ground by using ZMP compensation control and inverted pendulum control, and a whole motion pattern generation based on the preview control is developed.
Abstract: This paper describes stability control for a biped humanoid robot. The stability control consists of ZMP compensation control and inverted pendulum control for the robot to walk stably on the ground. The ZMP compensation control compensates the displacement of the waist according to ZMP, and the inverted pendulum control accelerates ZMP to the falling direction of the robot. Also, a whole motion pattern generation based on the preview control is developed. It enables the robot to walk with arm swings. According to the walking parameters, the angles of the whole body are calculated by inverse kinematics. In order to verify the effectiveness of the pattern generation and the control method, the simulation of the whole body motion is conducted by using Adams and MATLAB/Simulink.
19 citations
01 Jan 2013
TL;DR: A whole motion pattern generation based on the preview control is developed that enables the robot to walk with arm swings and the angles of the whole body are calculated by inverse kinematics.
Abstract: This paper describes stability control for a biped humanoid robot. The stability control consists of ZMP compensation control and inverted pendulum control for the robot to walk stably on the ground. The ZMP compensation control compensates the displacement of the waist according to ZMP, and the inverted pendulum control accelerates ZMP to the falling direction of the robot. Also, a whole motion pattern generation based on the preview control is developed. It enables the robot to walk with arm swings. According to the walking parameters, the angles of the whole body are calculated by inverse kinematics. In order to verify the effectiveness of the pattern generation and the control method, the simulation of the whole body motion is conducted by using Adams and MATLAB/Simulink.
8 citations
Cites methods from "Whole body motion pattern generatio..."
...A walking pattern generation method based on preview control and compensatory motion control was proposed [14]....
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01 Oct 2016
TL;DR: A gait pattern generation and the mechanisms of a biped humanoid robot that has 42 DOFs in total is described and a waist trajectory that can cancel the moments generated by the motion of the legs is determined by using the preview control.
Abstract: This paper describes a gait pattern generation and the mechanisms of a biped humanoid robot that has 42 DOFs in total. The movable angles of the joints of the biped robot are about the same as those of a human. Its height is 1.66 [m] and its weight is 62.5 [kg]. If disturbance forces are applied to the waist when the robot is walking, the robot should change its step length to control its balance and not fall down. The gait pattern consists of a leg trajectory, an arm trajectory, and a waist trajectory is created using a fuzzy control rule. A waist trajectory that can cancel the moments generated by the motion of the legs is also determined by using the preview control. To confirm the efficacy of the gait pattern, walking simulations were conducted using MATLAB/Simlink and ADAMS.
2 citations
01 Oct 2015
TL;DR: In this article, the main idea of this technique is the employment of swinging arm to reduce the torque at the torso in the vertical direction, which is computed using a method which utilizes the servo torque of hip and shoulder joints.
Abstract: The swing arm motion is a natural phenomenon that realized in humanoid robot walking. The swaying arm angle range is introduced in this study to utilize the humanoid robot arm during walking. The main idea of this technique is the employment of swinging arm to reduce the torque at the torso in the vertical direction. The torso torque, τt is computed using a method which utilizes the servo torque of hip and shoulder joints. The approach is tested using H25V33 NAO humanoid robot in the Webot™ Robotic Simulator. The result indicates that the method is successful in reducing the torso torque, τt during humanoid robot walking.
Cites background from "Whole body motion pattern generatio..."
...The control system research has done by [10-12] to compensate the undesired yaw moment....
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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
"Whole body motion pattern generatio..." refers methods in this paper
...A preview control was introduced for walking control of the HRP series [5]....
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16 May 1998
TL;DR: Due to its unique posture stability control, the Honda humanoid robot is able to maintain its balance despite unexpected complications such as uneven ground surfaces and to perform simple operations via wireless teleoperation.
Abstract: In this paper, we present the mechanism, system configuration, basic control algorithm and integrated functions of the Honda humanoid robot. Like its human counterpart, this robot has the ability to move forward and backward, sideways to the right or the left, as well as diagonally. In addition, the robot can turn in any direction, walk up and down stairs continuously. Furthermore, due to its unique posture stability control, the robot is able to maintain its balance despite unexpected complications such as uneven ground surfaces. As a part of its integrated functions, this robot is able to move on a planned path autonomously and to perform simple operations via wireless teleoperation.
2,050 citations
Additional excerpts
...3 [m], weight: 48 [kg]) including P1, P2 and P3 [1]....
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27 Sep 2004
TL;DR: The development of humanoid robot HRP-3 is presented and it is shown that its main mechanical and structural components are designed to prevent the penetration of dust or spray and its wrist and hand are newly designed to improve manipulation.
Abstract: A development of humanoid robot HRP-2 is presented in this paper. HRP-2 is a humanoid robotics platform, which we developed in phase two of HRP. HRP was a humanoid robotics project, which had run by the Ministry of Economy, Trade and Industry (METI) of Japan from 1998FY to 2002FY for five years. The ability of the biped locomotion of HRP-2 is improved so that HRP-2 can cope with uneven surface, can walk at two third level of human speed, and can walk on a narrow path. The ability of whole body motion of HRP-2 is also improved so that HRP-2 can get up by a humanoid robot's own self if HRP-2 tips over safely. In this paper, the appearance design, the mechanisms, the electrical systems, specifications, and features upgraded from its prototype are also introduced.
897 citations
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TL;DR: The appearance design, the mechanisms, the electrical systems, specifications, and features upgraded from its prototype are introduced and HRP-2 is a humanoid robotics platform developed in phase two of HRP.
Abstract: In this paper, the development of humanoid robot HRP-3 is presented. HRP-3, which stands for Humanoid Robotics Platform-3, is a human-size humanoid robot developed as the succeeding model of HRP-2. One of features of HRP-3 is that its main mechanical and structural components are designed to prevent the penetration of dust or spray. Another is that its wrist and hand are newly designed to improve manipulation. Software for a humanoid robot in a real environment is also improved. We also include information on mechanical features of HRP-3 and together with the newly developed hand. Also included are the technologies implemented in HRP-3 prototype. Electrical features and some experimental results using HRP-3 are also presented.
716 citations
15 May 2006
TL;DR: A new humanoid robot-WABIAN-2- that can be used as a human motion simulator is proposed in this paper and its trunk is designed in order to permit rotation, and forward, backward, and sideway movement.
Abstract: A new humanoid robot-WABIAN-2- that can be used as a human motion simulator is proposed in this paper. Its trunk is designed in order to permit rotation, and forward, backward, and sideway movement. Further, its arms are designed to support its complete weight when pushing a walk-assist machine. Moreover, it can lean on a walk-assist machine by forearm control using trunk motion. Basic walking experiments with WABIAN-2 are conducted with and without a walk-assist machine, thereby confirming its effectiveness
396 citations