Browse > Article
http://dx.doi.org/10.5370/JEET.2014.9.1.344

Modifiable Walking Pattern Generation Handling Infeasible Navigational Commands for Humanoid Robots  

Lee, Bum-Joo (Dept. of Electrical Engineering, Myongji University)
Kim, Kab Il (Dept. of Electrical Engineering, Myongji University)
Publication Information
Journal of Electrical Engineering and Technology / v.9, no.1, 2014 , pp. 344-351 More about this Journal
Abstract
In order to accomplish complex navigational commands, humanoid robot should be able to modify its walking period, step length and direction independently. In this paper, a novel walking pattern generation algorithm is proposed to satisfy these requirements. Modification of the walking pattern can be considered as a transition between two periodic walking patterns, which follows each navigational command. By assuming the robot as a linear inverted pendulum, the equations of motion between ZMP(Zero Moment Point) and CM(Center of Mass) state is easily derived and analyzed. After navigational command is translated into the desired CM state, corresponding CM motion is generated to achieve the desired state by using simple ZMP functions. Moreover, when the command is not feasible, feasible command is alternated by using binary search algorithm. Subsequently, corresponding CM motion is generated. The effectiveness of the proposed algorithm is verified by computer simulation.
Keywords
Humanoid robot; Bipedal Robot; Walking Pattern; Gait; Locomotion;
Citations & Related Records
연도 인용수 순위
  • Reference
1 C. Liu, C. Atkeson, and J. Su, "Biped walking control using a trajectory library," robotica, May 2012 (published online).
2 E. Whitman, and C. Atkeson, "Control of a walking biped using a combination of simple policies," in IEEE/RAS Int. Conf. Humanoid Robot., Paris, France, Dec. 2009, pp. 520-527.
3 S. Kajita, F. Kanehiro, K. Kaneko, K. Fujiwara, K. Harada, K. Yokoi, and H. Hirukawa, "Biped walking pattern generation by using preview control of zero-moment point," in Proc. IEEE Int. conf. Robot. Autom., Taipei, Taiwan, Sep. 2003, pp. 14-19.
4 S. Kajita, F. Kanehiro, K. Kaneko, K. Fujiwara, K. Yokoi, andH. Hirukawa, 'A realtime pattern generator for Biped walking', Proc.IEEE Int. Conf. Robot. Autom.,Washington, DC, vol. 1, pp. 31-37, May 2002.
5 T. Sugihara, Y. Nakamura, and H. Inoue, "Realtime humanoid motion generation through ZMP manipulation based on inverted pendulum control," in Proc. IEEE Int. Conf. Robot. Autom., Washington, DC, May 2002, vol. 2, pp. 1404-1409.
6 K. Nagasaka, Y. Kuroki, S. Suzuki, Y. Itoh, and J. Yamagushi, "Integrated motion control for walking, jumping and running on a small bipedal entertainment robot," in IEEE Int. Conf. robot. Autom., New Orleans, LA, Apr. 2004, vol. 4, pp. 3189-3194.
7 K. Harada, S. Kajita, K. Kaneko, and H. Hirukawa, "An analytical method on real-time gait planning for a humanoid robot," in Proc. IEEE-RAS/RSJ Int. Conf. Humanoid Robots, Los Angeles, CA, Nov. 2004, vol 2, pp. 640-655.
8 T. Sugihara and Y. Nakamura, "A fast online gait planning with boundary condition relazation for humanoid robots," in Proc. IEEE Int. Conf. Robot. Autom., Barcelona, Spain, Apr. 2005, pp. 305-310.
9 R. Kurazume, T. Hasegawa, and K. Yoneda, "The sway compendation trajectory for a biped robot," in Proc. IEEE int. Conf. Robot. Autom., Taipei, Taiwan, Sep. 2003, vol. 1, pp. 925-931.
10 KK. Yin, K. Loken, and M. Panne, "Simbicon: simple biped locomotion control," ACM Trans. on Graphics, vol. 26, no. 3, Jul. 2007.
11 KK. Yin, S. Coros, P. Beaudoin, and M. Panne, "Continuation method for adapting simulated skills," ACM Trans. on Graphics, vol. 27, no. 3, Aug. 2008.
12 P. Michel, J. Chestnutt, S. Kagami, K. Nishiwaki, J. Kuffner, and T. Kanade, "Online environment reconbstruction for biped navigation," in Proc. IEEE Int. Conf. Robot. Autom., Orlando, FL, May 2006, pp. 3089-3094.
13 J. Chestnutt, P. Michel, N. Nishiwaki, J. Kuffner, and S. Kagami, "An intelligent joystic for biped control," in Proc. IEEE Int. conf. Robot. Autom., Orlando, FL, May 2006, pp. 860-865.
14 Q. Huang and Y. Nakamura, "Sensory reflex control for humanoid walking," IEEE Trans. Robot., vol. 21, no. 5, pp. 977-984, Oct. 2005.   DOI   ScienceOn
15 Y.-D. Kim, B.-J.Lee, J.-H.Ryu, and J.-H. Kim, "Landing force control for humanoid robot by time domain passivity approach," IEEE Trans. Robot., vol. 23, no. 6, pp. 1294-1301, Dec. 2007.   DOI   ScienceOn
16 K. Hashimoto, Y. Sugahara, H. Sunazuka, C. Tanaka, A. Ohta, M. Kawase, H. -O. Lim, and A. Takanish, "Biped landing pattern modification method with nonlinear compliance control," in Proc. IEEE Int. conf. Robot. Autom., Orlando, FL, May 2006, pp. 1213-1218.
17 S. Lim, S.N. Oh and K.I. Kim,: 'Balance control for biped walking robotsusing only zero-moment-point position signal', Electronics Letters, vol. 48, no. 1, pp. 19-20, Jan. 2012.   DOI   ScienceOn
18 Lee, B.-J., Stonier, D., Kim, Y.-D., Yoo, J.-K., and Kim, J.-H., 'Modifiable Walking Pattern of a Humanoid Robot by Using Allowable ZMP Variation', IEEE Trans. on Robotics, vol. 24, no. 4, pp. 917-925, Apr. 2008.   DOI   ScienceOn