Browse > Article

A Smooth Trajectory Generation for an Inverted Pendulum Type Biped Robot  

Noh Kyung-Kon (인하대학교 대학원 자동화공학과)
Kong Jung-Shik (인하대학교 대학원 자동화공학과)
Kim Jin-Geol (인하대학교 전기공학과)
Kang Chan-Soo (인하대학교 대학원 자동화공학과)
Publication Information
Journal of the Korean Society for Precision Engineering / v.22, no.7, 2005 , pp. 112-121 More about this Journal
Abstract
This paper is concerned with smooth trajectory generation of biped robot which has inverted pendulum type balancing weight. Genetic algorithm is used to generate the trajectory of the leg and balancing weight. Balancing trajectory can be determined by solving the second order differential equation under the condition that the reference ZMP (Zero moment point) is settled. Reference ZMP effect on gait pattern absolutely but the problem is how to determine the reference ZMP. Genetic algorithm can find optimal solution under the high order nonlinear situation. Optimal trajectory is generated when use genetic algorithm which has some genes and a fitness function. In this paper, minimization of balancing joints motion is used for the fitness function and set the weight factor of the two balancing joints at the fitness function. Inverted pendulum type balancing weight is very similar with human and this model can be used fur humanoid robot. Simulation results show ZMP trajectory and the walking experiment made on the real biped robot IWR-IV.
Keywords
ZMP; Balancing joint; Genetic algorithm;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
연도 인용수 순위
1 Kajita, S., Kanehiro, F., Kaneko, K., Yokoi, K. and Hirukawa, H., 'The 3D Linear Inverted Pendulum Mode: A Simple Modeling for a Biped Walking Pattern Generation,' IEEE International Conference on Intelligent Robot and Systems, pp. 239 - 246, 2001   DOI
2 Noh, Kyung-Kon and Kim, Jin-Geol, 'A Stability Analysis of a Biped Walking Robot about Balancing Weight,' Journal of the Korean Society of Precision Eng, Vol. 22, No.1, pp. 89 - 96, 2005   과학기술학회마을
3 Kim, Jin-Geol, Choi, Sang-Ho and Park, Ki-Heon, 'Optimal Gait Control for a Biped Locomotion Using Genetic Algorithm,' Lecture Notes in Computer Science, Vol. 3046 Part IV, Springer pp. 29-38, 2004   DOI
4 Choi, S.H., Choi, Y.H. and Kim, J.G, 'Optimal Walking Trajectory Generation for a Biped Robot Using Genetic Algorithm,' Pro. Of the 1999 IEEE/RSJ Int. Conference on Intelligent Robots and Systems, pp. 1458 - 1459, 1999   DOI
5 Arakawa, T., Fukuda, T., 'Natural motion generation of biped locomotion robot using hierarchical trajectory generation method consist of GA, EP layers,' IEEE International Conference on Robotics and Automation, pp. 211 - 216, 1997   DOI
6 Chevallereau, C., Formal'sky, A., and Perrin, B., 'Low Energy Cost Reference Trajectories for a Biped Robot,' IEEE ICRA, pp. 1398 - 1404, 1998
7 Arakawa, T. and Fukuda, T., 'Natural Motion Trajectory Generation of Biped Locomotion Robot using Genetic Algorithm through Energy Optimization,' IEEE Systems, Man and cybernetics, pp. 1495 - 1500, 1996   DOI
8 Napoleon., Nakamura, S. and Sampei. M., 'Balance Control Analysis of Humanoid Robot based on ZMP Feedback Control,' IEEE Conference on Intelligent Robots and Systems, pp. 2437 - 2442, 2002
9 Cheng, M.Y. and Lin, C.S., 'Genetic Algorithm for Control Design of Biped Locomotion,' IEEE Proc. System, Man and Cybernetics, pp. 1315 - 1320, 1995   DOI
10 Lim, S.H. and Kim, J.G, 'Control of a Biped Walking Robot using Zero Moment Point Formulation,' Trans. KIEE Vol. 48A, No.8, pp 1022 - 1030, 1999   과학기술학회마을
11 Goswami, A., 'Foot Rotation Indicator (FRI) point: A new gait planning tool to evaluate postural stability of biped robot,' IEEE ICRA, pp. 47 - 52, 1999   DOI
12 Okumura, Y., Tawara, T., Endo, K., Furuta, T. and Shimizu, M., 'Realtime ZMP Conpensation for Biped Walking Robot using adaptive Inertia Force Control,' IEEE Intl. Conference on Intelligent Robots and Systems, pp. 335 - 339, 2003   DOI
13 Erbatur, K., Okazaki, A., Obiya, K., Takanishi, T. and Kawamura, A., 'A Study on the Zero Moment Point Measurement for Biped Walking Robots,' Advanced Motion Control, 2002 7th International Workshop on 3 - 5, pp. 431 - 436, 2002   DOI
14 Takanishi, A., Ishida, M., Yamazaki, Y. and Kato, I., 'The Realization of Dynamic Walking by The Biped Walking Robot WL-10RD,' Journal of the Robotics Society of Japan, Vol. 3, no. 4, pp. 325 - 336, 1985   DOI