Journal of Mechanical Science and Technology

The Korean Society of Mechanical Engineers (대한기계학회)
권호 표지

Walking Pattern Generation employing DAE Integration Method

  • Kang Yun-Seok (Graduate School of Automotive Engineering, Kookmin University) ;
  • Park Jung-Hun (Noise & Vibration Team, Center for Product Design Technology, Institute for Advanced Engineering) ;
  • Yim Hong Jae (School of Mechanical and Automotive Engineering, Kookmin University)
  • Published : 2005.01.01
Download PDF
⟨ Previous Next ⟩

Abstract

A stable walking pattern generation method for a biped robot is presented in this paper. In general, the ZMP (zero moment point) equations, which are expressed as differential equations, are solved to obtain a stable walking pattern. However, the number of differential equations is less than that of unknown coordinates in the ZMP equations. It is impossible to integrate the ZMP equations directly since one or more constraint equations are involved in the ZMP equations. To overcome this difficulty, DAE (differential and algebraic equation) solution method is employed. The proposed method has enough flexibility for various kinematic structures. Walking simulation for a virtual biped robot is performed to demonstrate the effectiveness and validity of the proposed method. The method can be applied to the biped robot for stable walking pattern generation.

Keywords

References

  1. Channon, P. H., Hopkins, S. H. and Phan, D. T., 1992, Derivation of Optimal Walking Motions for a Biped Walking Robot, Robotica, Vol. 10, No.2, pp. 165-172
  2. Chevallereau, C., Forrnalsky, A. and Perrin, B., 1998, Low Energy Cost Reference Trajectories for a Biped Robot, Proceedings of the IEEE international Conference on Robotics and Automation, pp. 1398-1404 https://doi.org/10.1109/ROBOT.1998.677300
  3. Dasgupta, A. and Nakamura, Y., 1999, Making Feasible Walking Motion of Humanoid Robots from Human Motion Capture Data, Proceedings of the IEEE international Conference on Robotics and Automation, pp. 1044-1049 https://doi.org/10.1109/ROBOT.1999.772454
  4. Haug, E. J. and Yen, J., 1992, Implicit Numerical Integration of Constrained Equations of Motion via Generalized Coordinate Partitioning, J. Mechanical Design, Vol. 114, pp.296-304
  5. Hirai, K., Hirose, M., Haikawa, Y. and Takenaka, T., 'The Development of Honda Humanoid Robot,' IEEE ICRA Vol. 2, pp.1321-1326, 1998 https://doi.org/10.1109/ROBOT.1998.677288
  6. Huang, Q., Kajita, S., Koyachi, N., Kaneko, K., Yokoi, K., Kotoku, T., Arai, H., Komoriya, K. and Tanie, K., 'A High Stability, Smooth Walking Pattern for a Biped Robot,' in Proceedings of the 1999 IEEE International Conference on Robotics & Automation, pp. 65-71,1999 https://doi.org/10.1109/ROBOT.1999.769932
  7. Kajita, S. and Tani, K., 1991, Study of Dynamic Biped Locomotion on Rugged Terrain: Derivation and Application of the Linear Inverted Pendulum Mode, Proceedings of the IEEE international Conference on Robotics and Automation, pp. 1405-1411 https://doi.org/10.1109/ROBOT.1991.131811
  8. McGeer, T., 1990, Passive Walking With Knees, Proceedings of the IEEE international Conference on Robotics and Automation, pp. 1640-1645 https://doi.org/10.1109/ROBOT.1990.126245
  9. Park, J. H. and Rhee, Y. K., 1998, ZMP Trajectory Generation for Reduced Trunk Motions of Biped Robots, Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.90-95 https://doi.org/10.1109/IROS.1998.724602
  10. Nikravesh, P. E., 1988, Computer-Aided Analysis of Mechanical Systems, Prentice-Hall, London, pp. 35-76
  11. Rostami, M. and Bessonnet, G., 1998, Impactless Sagittal Gait of a Biped Robot During the Single Support Phase, Proceedings of the IEEE international Conference on Robotics and Automation, pp. 1385-1391 https://doi.org/10.1109/ROBOT.1998.677298
  12. Roussel, L., Canudas-de-Wit, C. and Goswami, A., 1998, Generation of Energy Optimal Complete Gait Cycles for Biped Robots, Proceedings of the IEEE international Conference on Robotics and Automation, pp. 2036-2041 https://doi.org/10.1109/ROBOT.1998.680615
  13. Shampine, L. F. and Gordon, M. K., 1975, Computer Solution of Ordinary Differential Equations: the Initial Value Problem, W. H. Freeman, San Francisco
  14. C. L. Shin, Y. Z. Li, S. Churng, T. T. Lee, W. A. Gruven, 'Trajectory synthesis and physical admissibility for a biped robot during the single support phase,' IEEE, pp.1646-1650, 1990 https://doi.org/10.1109/ROBOT.1990.126246
  15. Silva, F. M. and Machado, J. A. T., 1999, Energy Analysis During Biped Walking, Proceedings of the IEEE international Conference on Robotics and Automation, pp. 59-64 https://doi.org/10.1109/ROBOT.1999.769931
  16. Takanishi, A., Ishida, M., Yamazaki, Y. and Kato, I., 1985, The Realization of Dynamic Walking.Robot WL-10RD, Proceedings of international Conference on Advanced Robotics, pp.459-466
  17. Vukobratovic, M. and Juricic, D., 1969, Contribution to the Synthesis of Biped Gait, IEEE Trans. Bio-Med. Eng., Vol. BME-16, No. 1, pp. 1-6
  18. Zerrugh, M. Y. and Radcliffe, C. W., 1979, Computer Generation of Human Gait Kinematics, J. Biomech., Vol. 12, pp. 99-111 https://doi.org/10.1016/0021-9290(79)90149-0
  19. Zheng, Y. F. and Shen, J., 1990, Gait Synthesis for the SD-2 Biped Robot to Climb Sloping Surface, IEEE Trans. Robot. Automat., Vol. 6, pp.86-96 https://doi.org/10.1109/70.88120