Turning Gait Planning Method for Humanoid Robots
Abstract
:1. Introduction
2. Non-Inertial Reference in Turning Walk
3. Turning Gait Planning in the Non-Inertial Reference (IRF)
3.1. Planning of the COM Trajectory
3.2. Foot Position and Allowable ZMP Region Planning
4. Transformation from the IRF to the World Coordinate Reference
Turning Walk Planning Method
- Use the new cost function with stability and ZMP constraints to compute the ZMP velocity based on the new LIP model in the preceding section;
- Based on the planned ZMP velocity, we then obtain the ZMP position and can also get the position and velocity of COM in the IRF;
- Compute based on the COM position and velocity;
- Based on , we can calculate the COM velocity and the ZMP position in the world coordinate reference. This is the turning walk data. We then return to the first step.
5. Simulations and Experiments
6. Conclusions
Author Contributions
Funding
Conflicts of Interest
References
- Wieber, P.B. Trajectory free linear model predictive control for stable walking in the presence of strong perturbations. In Proceedings of the IEEE-RAS International Conference on Humanoid Robots, Genova, Italy, 4–6 December 2006; pp. 137–142. [Google Scholar]
- Pratt, J.; Carff, J.; Drakunov, S.; Goswami, A. Capture point: A step toward humanoid push recovery. In Proceedings of the IEEE-RAS International Conference on Humanoid Robots, Genova, Italy, 4–6 December 2006; pp. 200–207. [Google Scholar]
- Herdt, A.; Perrin, N.; Wieber, P.B. Walking without thinking about it. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Taipei, Taiwan, 18–22 October 2010; pp. 190–195. [Google Scholar]
- Morisawa, M.; Kajita, S.; Kanehiro, F.; Kaneko, K.; Miura, K.; Yokoi, K. Balance control based on capture point error compensation for biped walking on uneven terrain. In Proceedings of the IEEE-RAS International Conference on Humanoid Robots (Humanoids), Osaka, Japan, 29 November–1 December 2012; pp. 734–740. [Google Scholar]
- Deits, R.; Tedrake, R. Footstep planning on uneven terrain with mixed-integer convex optimization. In Proceedings of the IEEE-RAS International Conference on Humanoid Robots, Madrid, Spain, 18–20 November 2014; pp. 279–286. [Google Scholar]
- Kajita, S.; Kanehiro, F.; Kaneko, K.; Fujiwara, K.; Harada, K.; Yokoi, K.; Hirukawa, H. Biped walking pattern generation by using preview control of zero-moment point. In Proceedings of the International Conference on Robotics and Automation, Taipei, Taiwan, 14–19 September 2003; Volume 2, pp. 1620–1626. [Google Scholar]
- Lanari, L.; Hutchinson, S.; Marchionni, L. Boundedness issues in planning of locomotion trajectories for biped robots. In Proceedings of the IEEE-RAS International Conference on Humanoid Robots, Madrid, Spain, 18–20 November 2014; pp. 951–958. [Google Scholar]
- Huang, Q.; Yokoi, K.; Kajita, S.; Kaneko, K.; Arai, H.; Koyachi, N.; Tanie, K. Planning walking patterns for a biped robot. IEEE Trans. Robot. Autom. 2001, 17, 280–289. [Google Scholar] [CrossRef] [Green Version]
- Koolen, T.; Boer, T.D.; Rebula, J.; Goswami, A.; Pratt, J. Capturability-based analysis and control of legged locomotion, Part 1: Theory and application to three simple gait models. Int. J. Robot. Res. 2012, 31, 1094–1113. [Google Scholar] [CrossRef]
- Mombaur, K.; Truong, A.; Laumond, J.P. From Human to Humanoid Locomotion—An Inverse Optimal Control Approach; Kluwer Academic Publishers: Norwell, MA, USA, 2010. [Google Scholar]
- Faraji, S.; Pouya, S.; Ijspeert, A. Robust and Agile 3D Biped Walking With Steering Capability Using a Footstep Predictive Approach. In Proceedings of the Robotics Science and Systems (RSS), Berkeley, CA, USA, 12–16 July 2014. [Google Scholar]
- Sulistijono, I.A.; Setiaji, O.; Salfikar, I.; Kubota, N. Fuzzy walking and turning tap movement for humanoid soccer robot EFuRIO. In Proceedings of the IEEE International Conference on Fuzzy Systems, Barcelona, Spain, 18–23 July 2010; pp. 1–6. [Google Scholar]
- Hu, Y.; Mombaur, K. Bio-Inspired Optimal Control Framework to Generate Walking Motions for the Humanoid Robot iCub Using Whole Body Models. Appl. Sci. 2018, 8, 278. [Google Scholar] [CrossRef]
- Han, B.; Luo, X.; Liu, Q.; Zhou, B.; Cheng, X. Hybrid control for SLIP-based robots running on unknown rough terrain. Robotica 2014, 32, 1065–1080. [Google Scholar] [CrossRef]
- Shahbazi, M.; Babuska, R.; Lopes, G.A.D. Unified Modeling and Control of Walking and Running on the Spring-Loaded Inverted Pendulum. IEEE Trans. Robot. 2016, 32, 1178–1195. [Google Scholar] [CrossRef]
- Poulakakis, I. Spring Loaded Inverted Pendulum embedding: Extensions toward the control of compliant running robots. Robot. Autom. 2010, 58, 5219–5224. [Google Scholar]
- Cao, Y.; Suzuki, S.; Hoshino, Y. Turn Control of a Three-Dimensional Quasi-Passive Walking Robot by Utilizing a Mechanical Oscillator. Engineering 2014, 6, 93–99. [Google Scholar] [CrossRef]
- Miura, K.; Kanehiro, F.; Kaneko, K.; Kajita, S.; Yokoi, K. Slip-Turn for Biped Robots. IEEE Trans. Robot. 2013, 29, 875–887. [Google Scholar] [CrossRef]
- Miura, K.; Kanehiro, F.; Harada, K.; Kaneko, K.; Yokoi, K.; Kajita, S. Slip turn generatioin of humanoid robots based on an analysis of friction model. In Emerging Trends in Mobile Robotics; World Scientific: Singapore, 2015; pp. 761–768. [Google Scholar]
- Miura, K.; Kanehiro, F.; Kaneko, K.; Kajita, S.; Yokoi, K. Quick slip-turn of HRP-4C on its toes. In Proceedings of the IEEE International Conference on Robotics and Automation, Saint Paul, MN, USA, 14–18 May 2012; pp. 3527–3528. [Google Scholar]
- Koeda, M.; Ueno, M.; Serizawa, T. Shuffle Parallel Translation and Pivot Turn of Humanoid Robot in Dynamics Simulator. In Proceedings of the International Conference on Artificial Intelligence, Modelling and Simulation (AIMS), Kota Kinabalu, Malaysia, 3–5 December 2013; pp. 217–220. [Google Scholar]
- Hashimoto, K.; Yoshimura, Y.; Kondo, H.; Lim, H.-O.; Takanishiet, A. Realization of quick turn of biped humanoid robot by using slipping motion with both feet. In Proceedings of the IEEE International Conference on Robotics and Automation, Shanghai, China, 9–13 May 2011; pp. 2041–2046. [Google Scholar]
- Peng, S.; Shui, H.; Ma, H. A simulation and experiment research on turning gait planning of blackmann-II humanoid robot. In Proceedings of the IEEE International Conference on Control and Automation, Xiamen, China, 9–11 June 2010; pp. 719–724. [Google Scholar]
- Kajita, S.; Hirukawa, H.; Harada, K.; Yokoi, K. Introduction to Humanoid Robotics; Springer Publishing Company: Berlin, Germany, 2014. [Google Scholar]
- Scianca, N.; Cognetti, M.; de Simone, D.; Lanari, L.; Oriolo, G. Intrinsically stable MPC for humanoid gait generation. In Proceedings of the IEEE-RAS 16th International Conference on Humanoid Robots, Cancun, Mexico, 15–17 November 2016; pp. 601–606. [Google Scholar]
Parameters | Value |
---|---|
Degrees of freedom | 23 |
Weight | 50.0 kg |
Height | 1.65 m |
Foot length | 24 cm |
Foot width | 14 cm |
Hip width | 15 cm |
Contact type | Point contact |
© 2018 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (http://creativecommons.org/licenses/by/4.0/).
Share and Cite
Yang, T.; Zhang, W.; Chen, X.; Yu, Z.; Meng, L.; Huang, Q. Turning Gait Planning Method for Humanoid Robots. Appl. Sci. 2018, 8, 1257. https://doi.org/10.3390/app8081257
Yang T, Zhang W, Chen X, Yu Z, Meng L, Huang Q. Turning Gait Planning Method for Humanoid Robots. Applied Sciences. 2018; 8(8):1257. https://doi.org/10.3390/app8081257
Chicago/Turabian StyleYang, Tianqi, Weimin Zhang, Xuechao Chen, Zhangguo Yu, Libo Meng, and Qiang Huang. 2018. "Turning Gait Planning Method for Humanoid Robots" Applied Sciences 8, no. 8: 1257. https://doi.org/10.3390/app8081257