• Title/Summary/Keyword: Walking Trajectory

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A Study on Stairs Walking of a Biped Robot (이족 로봇의 계단 보행에 관한 연구)

  • Oh, Jae-Joon;Park, Sang-Su;Choi, Yoon-Ho;Park, Jin-Bae
    • Proceedings of the KIEE Conference
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    • 2007.07a
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    • pp.1764-1766
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    • 2007
  • This paper aims to generate the static walking pattern of a biped robot on stairs and to show the effectiveness of the proposed algorithm using its ankle and pelvis. Differently from the previous biped robots, our biped robot has the peculiar mechanism on its ankle and pelvis. By using this mechanism, we can reduce the load in the knee when a biped robot ascends the stairs. This means that a biped robot can climb up a higher step. The stairs walking trajectory that is separated into a ankle trajectory and a pelvis trajectory is generated by cubic spline interpolation. Finally, we confirm the feasibility of the proposed algorithm through the computer simulation and the real walking experiment.

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Trajectory Optimization for Biped Robots Walking Up-and-Down Stairs based on Genetic Algorithms (유전자 알고리즘을 이용한 이족보행 로봇의 계단 보행)

  • Jeon Kweon-Soo;Kwon O-Hung;Park Jong-Hyeon
    • Journal of the Korean Society for Precision Engineering
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    • v.23 no.4 s.181
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    • pp.75-82
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    • 2006
  • In this paper, we propose an optimal trajectory for biped robots to move up-and-down stairs using a genetic algorithm and a computed-torque control for biped robots to be dynamically stable. First, a Real-Coded Genetic Algorithm (RCGA) which of operators are composed of reproduction, crossover and mutation is used to minimize the total energy. Constraints are divided into equalities and inequalities: Equality constraints consist of a position condition at the start and end of a step period and repeatability conditions related to each joint angle and angular velocity. Inequality constraints include collision avoidance conditions of a swing leg at the face and edge of a stair, knee joint conditions with respect to the avoidance of the kinematic singularity, and the zero moment point condition with respect to the stability into the going direction. In order to approximate a gait, each joint angle trajectory is defined as a 4-th order polynomial of which coefficients are chromosomes. The effectiveness of the proposed optimal trajectory is shown in computer simulations with a 6-dof biped robot that consists of seven links in the sagittal plane. The trajectory is more efficient than that generated by the modified GCIPM. And various trajectories generated by the proposed GA method are analyzed in a viewpoint of the consumption energy: walking on even ground, ascending stairs, and descending stairs.

Biped Walking of a Humanoid Robot for Argentina Tango

  • Ahn, Doo-Sung
    • Journal of Drive and Control
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    • v.13 no.4
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    • pp.52-58
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    • 2016
  • The mechanical design for biped walking of a humanoid robot doing the Argentina Tango is presented in this paper. Biped walking has long been studied in the area of robotic locomotion. The aim of this paper is to implement an Argentina Tango dancer-like walking motion with a humanoid robot by using a trajectory generation scheme. To that end, this paper uses blending polynominals whose parameters are determined based on PSO (Particle Swarm Optimization) according to conditions that make the most of the Argentina Tango's characteristics. For the stability of biped walking, the ZMP (Zero Moment Point) control method is used. The feasibility of the proposed scheme is evaluated by simulating biped walking with the 3D Simscape robot model. The simulation results show the validity and effectiveness of the proposed method.

Analysis on Effective Walking Pattern for Multi-Legged Robots (다족 로봇을 위한 효과적인 보행 패턴 분석)

  • Kim, Byoung-Ho
    • Journal of the Korean Institute of Intelligent Systems
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    • v.19 no.5
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    • pp.622-628
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    • 2009
  • A proper walking pattern is to be assigned for a walk of multi-legged robots. For the purpose of identifying a good walking pattern for multi-legged robots, this paper consider a simple model of quadruped robotic walking and analyze its walking balance based on the centroid of foot polygons formed in every step. A performance index to estimate the walking balance is also proposed. Simulation studies show that the centroid trajectory of foot polygons and the walking balance in a common quadruped walking are different according to the walking pattern employed. Based on the walking balance index and a bio-mimetic aspect, a useful walking pattern for quadruped robots is finally addressed.

Intelligent Walking of Humanoid Robot for Stable Walking on a Decent (휴머노이드 로봇의 경사면 내리막 보행을 위한 지능보행 연구)

  • Kim, Dong-Won;Park, Gwi-Tae
    • The Journal of Korea Robotics Society
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    • v.1 no.2
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    • pp.197-202
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    • 2006
  • We present the synergy effect of humanoid robot walking down on a slope and support vector machines in this paper. The biped robot architecture is highly suitable for the working in the human environment due to its advantages in obstacle avoidance and ability to be employed as human substitutes. But the complex dynamics in the robot and ground makes robot control difficult. The trajectory of the zero moment point (ZMP) in a biped walking robot is an important criterion used for the balance of the walking robots. The ZMP trajectory as dynamic stability of motion will be handled by support vector machines (SVM). Three kinds of kernels are also employed, and each result from these kernels is compared to one another.

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Dynamic Walking of a Biped Robot

  • Ma, Ling;Son, Young-Ik;Kim, Kab-Il
    • Proceedings of the KIEE Conference
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    • 2004.05a
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    • pp.138-140
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    • 2004
  • This paper mainly deals with the dynamic walking of a biped robot. At first, in order to walk in various environments, it is desirable to adapt to such ground conditions with a suitable foot motion, and maintain the stability of the robot by a smooth hip motion. A method to plan a walking pattern consisting of a foot trajectory and a hip trajectory is presented. The effectiveness of the proposed method is illustrated by simulation results. Secondly, the paper brings forward a balance control technique based on off-line walking pattern with real-time modification. At last, the concept of Zero Moment Point (ZMP) is used to evaluate dynamic stability.

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Energy-Efficient Reference Walking Trajectory Generation Using Allowable ZMP (Zero Moment Point) Region for Biped Robots (2족 보행 로봇을 위한 허용 ZMP (Zero Moment Point) 영역의 활용을 통한 에너지 효율적인 기준 보행 궤적 생성)

  • Shin, Hyeok-Ki;Kim, Byung-Kook
    • Journal of Institute of Control, Robotics and Systems
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    • v.17 no.10
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    • pp.1029-1036
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    • 2011
  • An energy-efficient reference walking trajectory generation algorithm is suggested utilizing allowable ZMP (Zero-Moment-Point) region, which maxmizes the energy efficiency for cyclic gaits, based on three-dimensional LIPM (Linear Inverted Pendulum Model) for biped robots. As observed in natural human walking, variable ZMP manipulation is suggested, in which ZMP moves within the allowable region to reduce the joint stress (i.e., rapid acceleration and deceleration of body), and hence to reduce the consumed energy. In addition, opimization of footstep planning is conducted to decide the optimal step-length and body height for a given forward mean velocity to minimize a suitable energy performance - amount of energy required to carry a unit weight a unit distance. In this planning, in order to ensure physically realizable walking trajectory, we also considered geometrical constraints, ZMP stability condition, friction constraint, and yawing moment constraint. Simulations are performed with a 12-DOF 3D biped robot model to verify the effectiveness of the proposed method.

Low-Power Walking Trajectory Generation of Biped Robot and Its Realization (이족 로봇의 저전력 보행 궤적 생성 및 구현)

  • Park Sang-Su;Kim Byung-Soo;Oh Jae-Joon;Choi Yoon-Ho
    • Journal of the Korean Institute of Intelligent Systems
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    • v.16 no.4
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    • pp.443-448
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    • 2006
  • In this paper, a novel method is proposed for generating the low-power and stable walking trajectory of biped robots, and then a biped robot with 25 DOFs(degrees of freedom) is designed and implemented for the realization of the low-power walking trajectory generated by the proposed method. In our method, first a stable VPCG(vertically projected center of gravity) trajectory is generated, and then the trajectories of ankle and pelvis of a biped robot are planned to follow the preplanned stable VPCG trajectory, which produces a waking pattern without bending its knees and enables a biped robot to walk with less power consumption. On the other hand, a biped robot implemented in this paper has the mechanical structure of foot that enables a biped robot to support on the ground well, and the mechanical structure of pelvis that enables a biped robot to move flexibly. From results of the walking experiment and power consumption measurement, it was confirmed that the proposed method can generate the more stable and flexible trajectory with less power consumption compared with the existing methods which do not use the ankle of a biped robot.

Walking Pattern Analysis for Reducing Trajectory Tracking Error in a Biped Robot (이족보행로봇의 궤적 추종 오차 감소를 위한 걸음새 분석)

  • 노경곤;공정식;김진걸
    • Journal of Institute of Control, Robotics and Systems
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    • v.8 no.10
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    • pp.890-897
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    • 2002
  • This paper deals with the reduction of trajectory tracking error by changing the initial postures of a biped robot. Gait of a biped robot depends on the constraints of mechanical kinematics and the initial states including the posture. Also the dynamic walking stability in a biped robot system is analyzed by zero moment point(ZMP) among the stabilization indices. Path trajectory, in which knee joint is bent forward like human's cases, is applied to most cases considered with above conditions. A new initial posture, which is similar to bird's gait, is proposed to decrease trajectory tracking error and it is verified through real experimental results.