Hostname: page-component-78c5997874-xbtfd Total loading time: 0 Render date: 2024-11-10T21:18:46.929Z Has data issue: false hasContentIssue false
  • English
  • Français

Gait motion stabilization tuning approach of biped robot based on augmented reality

Published online by Cambridge University Press:  02 August 2013

J. Lin ,
Z. M. Li  and
J. Chang
J. Lin*
Affiliation:
Department of Mechanical Engineering, Chien Hsin University of Science and Technology, 229, Chien-Hsin Rd., Jung-Li City, Taiwan320, R.O.C.
Z. M. Li
Affiliation:
Department of Mechanical Engineering, Chien Hsin University of Science and Technology, 229, Chien-Hsin Rd., Jung-Li City, Taiwan320, R.O.C.
J. Chang
Affiliation:
Department of Mechanical Engineering, Chien Hsin University of Science and Technology, 229, Chien-Hsin Rd., Jung-Li City, Taiwan320, R.O.C.
*
*Corresponding author: E-mail: jlin@uch.edu.tw
Get access Rights & Permissions [Opens in a new window]

Summary

Zero moment point (ZMP) is the most popular concept that is applied to stabilize the gait motion of a biped robot. This paper utilizes ZMP with the augmented-reality (AR) method to improve the stability of gait motion of a biped robot. The 3ds Max computer software package is used to build a virtual robot. Under an achieved joint angle data of solid robot to produce an animation of the robot's trajectory, the joint angle data are transmitted to the virtual robot to analyze the offset of the trunk. Furthermore, this investigation adopts AR to allow the user to make direct comparisons between the solid and virtual robot before and after the gait motion is corrected. The animated trajectories of the virtual robot are compared and the relevant data provide feedback to the solid robot to adjust the joint angle and further correct its posture. The experimental results reveal that the proposed scheme can improve gait motion, even when the biped robot is affected by an unexpected loading disturbance. As well as improving the stability of gait motion of a biped robot, the results of this study can also be used to teach the application of the proposed method in a robotics class.

Keywords

Biped robotZero-moment pointLocomotion controlAugmented reality
Type
Articles
Information
Robotica , Volume 32 , Issue 3 , May 2014 , pp. 325 - 339
Copyright
Copyright © Cambridge University Press 2013 

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1.Kim, D., Seo, S.-J. and Park, G.-T., “Zero-moment point trajectory modeling of a biped walking robot using an adaptive neuro-fuzzy system,” IEEE Proc.–Contl. Theory Appl. 152 (4), 411–426 (2005).Google Scholar
2.Erbatur, F., Okazaki, A., Obiya, K., Takahashi, T. and Kawamura, A., “A Study on the Zero Moment Point Measurement for Biped Walking Robots,” Proceedings of the 7th International Workshop on Advanced Motion Control, Maribor, Slovenia (Jul. 3–5, 2002) pp. 431–436.Google Scholar
3.Vukobratović, M. and Juričić, D., “Contribution to the synthesis of biped gait,” IEEE Trans. Bio-Med.Eng. 16 (1), 1–6 (1969).Google Scholar
4.Chalodhorn, R., MacDorman, K. F. and Asada, M., “Humanoid robot motion recognition and reproduction,” Ad. Rob. 23, 349–366 (2009).CrossRefGoogle Scholar
5.Vukobratović, M., Frank, A. A. and Juričić, D., “On the stability of biped locomotion,” IEEE Trans. Bio-Med. Eng. 17 (1), 25–36 (1970).Google Scholar
6.Sardain, P. and Bessonnet, G., “Forces acting on a biped robot. Center of Pressure-Zero Moment Point,” IEEE Trans. Syst. Man Cybern. Syst. Hum. 34 (5), 630–637 (2004).Google Scholar
7.Liu, Z., Zhang, Y. and Wang, Y., “A type-2 fuzzy swithching control system for biped robots,” IEEE Trans. Syst. Man Cybern. Appl. Rev. 37 (6), 1202–1213 (2007).Google Scholar
8.Furusho, J. and Sano, A., “Sensor-based control of a nine-link biped,” Int. J. Rob. Res. 9 (2), 83–98 (1990).Google Scholar
9.Lum, H. K., Zribi, M. and Soh, Y. C., “Planning and control of a biped robot,” Int. J. Eng. Sci, 37 (10), 1319–1349 (1999).Google Scholar
10.Shih, C. L. and Gruver, W. A., “Control of a biped robot in the double-support phase,” IEEE Trans. Syst. Man Cybern. 22 (4), 729–735 (1992).CrossRefGoogle Scholar
11.Phuong, N. T., Kim, D. W., Kim, H. K. and Lim, S. B., “An Optimal Control Method for Biped Robot with Stable Walking Gait,” Proceedings of the 2008 8th IEEE-RAS International Conference on Humanoid Robots, Daejeon, Korea (Dec. 1–3, 2008) pp. 211–218.CrossRefGoogle Scholar
12.Zheng, Y. F. and Sias, F. R., “Design and motion control of practical biped robots,” Int. J. Rob. Autom. 3 (2), 70–77 (1988).Google Scholar
13.Kajita, S., Yamaura, T. and Kobayashi, A., “Dynamic walking control of a biped robot along a potential energy conserving orbit,” IEEE Trans. Rob. Autom. 8 (4), 431–438 (1992).Google Scholar
14.Li, T.-H. S., Su, Y.-T., Kuo, C.-H., Chen, C.-Y., Hsu, C.-L. and Lu, M.-F., “Stair-Climbing Control of Humanoid Robot Using Force and Accelerometer Sensors,” Proceedings of the SICE Annual Conference, Kagawa, Japan (Sep. 17–20, 2007) pp. 2115–2120.Google Scholar
15.Aoustin, Y. and Formal'sky, A., “On the stabilization of a biped vertical posture in single support using internal torques,” Robotica 23 (1), 65–74 (2005).Google Scholar
16.Azevedo, C., Poignet, P. and Espiau, B., “Artificial locomotion control: From human to robots,” Rob. Auton. Syst. 47 (3), 203–223 (2004).Google Scholar
17.Huang, Q., Yokoi, K., Kajita, S., Kaneko, K., Arai, H., Koyachi, N., and Tanie, K., “Planning walking patterns for a biped robot,” IEEE Trans. Rob. Autom. 17 (3), 280–289 (2001).Google Scholar
18.Chevallereau, C. and Aoustin, Y., “Optimal reference trajectories for walking and running of a biped robot,” Robotica 19 (5), 557–569 (2001).Google Scholar
19.Nenchev, D. N. and Nishio, A., “Ankle and hip strategies for balance recovery of a biped subjected to an impact,” Robotica 26 (5), 643–653 (2008).Google Scholar
20.Kajita, S., Morisawa, M., Miura, K., S.I. Nakaoka, Harada, K., Kaneko, K., Kanehiro, F., and Yokoi, K., “Biped Walking Stabilization based on Linear Inverted Pendulum Tracking,” Proceedings of the 2010 IEEE International Conference on Intelligent Robots and Systems, Taipei, Taiwan (Oct. 18–22, 2010) pp. 4489–4496.Google Scholar
21.Giesler, B., Salb, T., Steinhaus, P. and Dillmann, R., “Using Augmented Reality to Interact with an Autonomous Mobile Platform,” Proceedings of the 2004 IEEE International Conference on Robotics & Automation, New Orleans, USA (Apr. 26–May 1, 2004) pp. 1009–1014.Google Scholar
22.Núũez, P., Bandera, J. P., Pérez-Lorenzo, J. M. and Sandoval, F., “A Human-Robot Interaction System for Navigation Supervision based on Augmented Reality,” IEEE MELECON, Benalmádena (Málaga), Spain (May 16–19, 2006) pp. 441–444.Google Scholar
23.Dillmann, R., Becher, R. and Steinhaus, P., “Armar II–-A learning and cooperative multimodal humanoid robot system,” Int. J. Humanoid Rob. 1 (1), 143–155 (2004).Google Scholar
24.Nishiyama, T., Hoshino, H., Suzuki, K., Nakajima, R., Sawada, K., and Tachi, S., “Development of surrounded audio-visual display system for humanoid robot control,” Proceedings of the 9$^th$ International Conference of Artificial Reality and Tele-existence (ICAT'99), Tokyo, Japan (Dec. 16–18, 1999) pp. 60–67.Google Scholar
25.http://www.smerobot.org/15_final_workshop/download/presentations/02_New_devices_and_methods_20090507.pdf (accessed August 16, 2011).Google Scholar
26.Fang, H. C., Ong, S. K. and Nee, A.Y.C., “Interactive robot trajectory planning and simulation using Augmented Reality,” Rob. Comput.-Integr. Manuf. 28 (2), 227–237 (2012).CrossRefGoogle Scholar
27.www.openscenegraph.org (accessed August 3, 2011).Google Scholar
28.Zheng, Y. F. and Hemami, H., “Impact effects of biped contact with the environment,” IEEE Trans. Syst. Man Cybern. SMC-14 (3), 437–443 (1984).Google Scholar
29.Lin, J., Chang, J., Lyu, S. M., and Li, Z. M., “Fuzzy stabilization tuning approach for locomotion control of a biped robot”, Int. Rev. Autom. Control (IREACO). 4 (3), 461–471 (2011).Google Scholar