Hostname: page-component-cd9895bd7-gxg78 Total loading time: 0 Render date: 2024-12-27T11:20:36.738Z Has data issue: false hasContentIssue false
  • English
  • Français

Increase the feasible step region of biped robots through active vertical flexion and extension motions

Published online by Cambridge University Press:  20 May 2016

Wei Gao ,
Zhenzhong Jia  and
Chenglong Fu
Wei Gao
Affiliation:
School of Aerospace, Tsinghua University, Beijing, 100084, P. R. China. E-mail: gaow13@mails.tsinghua.edu.cn
Zhenzhong Jia
Affiliation:
The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, 15213, USA. E-mail: zhenzjia@cmu.edu
Chenglong Fu*
Affiliation:
State Key Laboratory of Tribology, Tsinghua University, Beijing, 100084, P. R. China Beijing Key Laboratory of Precision/Ultra-precision Manufacturing Equipments and Control, Tsinghua University, Beijing, 100084, P. R. China
*
*Corresponding author. E-mail: fcl@tsinghua.edu.cn
Get access Rights & Permissions [Opens in a new window]

Summary

This paper investigates the active vertical motion of biped systems and its significance to the balance of biped robots, which have been commonly neglected by the use of a well-known model called the Linear Inverted Pendulum Model. The feasible step location is theoretically estimated by considering the active vertical movement on a simple point mass model. Based on the estimation, we present two new strategies, namely the flexion strategy and the extension strategy, to enable biped robots to restore balance through active upward and downward motions. The analytical results demonstrate that the robot is able to recover from much larger disturbances using our proposed methods. Simulations of the simple point mass model validate our analysis. Besides, prototype controllers that incorporate our proposed strategies have also been implemented on a simulated humanoid robot. Numerical simulations on both the simple point mass model and the realistic humanoid model prove the effectiveness of proposed strategies.

Keywords

Biped robotStabilityPush recoveryFlexionVertical motion
Type
Articles
Information
Robotica , Volume 35 , Issue 7 , July 2017 , pp. 1541 - 1561
Copyright
Copyright © Cambridge University Press 2016 

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. Vukobratović, M. and Stepanenko, J., “On the stability of anthropomorphic systems,” Math. Biosci. 15 (1), 1–37 (1972).CrossRefGoogle Scholar
2. Kajita, S. and Kazuo, T., “Study of Dynamic Biped Locomotion on Rugged Terrain-Derivation and Application of the Linear Inverted Pendulum Mode,” IEEE International Conference on Robotics and Automation, Sacramento, CA, USA (1991) pp. 1405–1411.Google Scholar
3. Pratt, J., Carff, J., Drakunov, S. and Goswami, A., “Capture Point: A Step Toward Humanoid Push Recovery,” IEEE-RAS International Conference on Humanoid Robots, Genoa, Italy (2006) pp. 200–207.Google Scholar
4. Koolen, T., De Boer, T., Rebula, J., Goswami, A. and Pratt, J., “Capturability-based analysis and control of legged locomotion, Part 1: Theory and application to three simple gait models,” The Int. J. Robot. Res. 31 (9), 1094–1113 (2012).Google Scholar
5. Pratt, J., Koolen, T., De Boer, T., Rebula, J., Cotton, S., Carff, J. and Neuhaus, P., “Capturability-based analysis and control of legged locomotion, part 2: Application to m2v2, a lower body humanoid,” The Int. J. Robot. Res. 31 (10), 1117–1133 (2012).Google Scholar
6. Hofmann, A. and Williams, B., “Robust Execution of Temporally Flexible Plans for Bipedal Walking Devices,” The International Conference on Automated Planning and Scheduling, Lake District, UK (2006) pp. 386–389.Google Scholar
7. Boston Dynamics. Available at: http://www.bostondynamics.com/, (2013).Google Scholar
8. Chen, X., Huang, Q., Yu, Z. and Lu, Y., “Robust push recovery by whole-body dynamics control with extremal accelerations,” Robotica 32 (3), 467–476 (2014).Google Scholar
9. Fu, C., “Perturbation Recovery of Biped Walking by Updating the Footstep,” IEEE/RSJ International Conference on Intelligent Robots and Systems, Chicago, IL, USA (2014) pp. 2509–2514.Google Scholar
10. Yi, S. J., Zhang, B. T., Hong, D. and Lee, D. D.. “Online Learning of a Full Body Push Recovery Controller for Omnidirectional Walking,” IEEE-RAS International Conference on Humanoid Robots, Bled, Slovenia (2011) pp. 1–6.Google Scholar
11. Li, T., Kuo, P., Ho, Y., Kao, M. and Tai, L., “A biped gait learning algorithm for humanoid robots based on environmental impact assessed artificial bee colony,” IEEE Access, 3, 13–26 (2015).CrossRefGoogle Scholar
12. Semwal, V. B., Katiyar, S. A., Chakraborty, R. and Nandi, G. C., “Biologically-inspired push recovery capable bipedal locomotion modeling through hybrid automata,” Robot. Auton. Syst. 70, 181–190 (2015).Google Scholar
13. Maus, H. M., Lipfert, S. W., Gross, M., Rummel, J. and Seyfarth, A., “Upright human gait did not provide a major mechanical challenge for our ancestors,” Nature Commun. 1, 70 (2010).Google Scholar
14. Aldebaran. Available at: https://www.aldebaran.com/ (2015).Google Scholar
15. Cyberbotics. Available at: http://www.cyberbotics.com/ (2015).Google Scholar
16. Fu, J. W., Chen, K., Yu, Z. and Huang, Q., “A walking control strategy combining global sensory reflex and leg synchronization,” Robotica 34 (5), 973–994 (2016).Google Scholar
17. Fu, C., Tan, F. and Chen, K., “A simple walking strategy for biped walking based on an intermittent sinusoidal oscillator”. Robotica, 28 (06), 869–884 (2010).Google Scholar
18. Kuo, A. D., “Energetics of actively powered locomotion using the simplest walking model,” J. Biomech. Eng. 124 (1), 113–120 (2002).Google Scholar
19. Fu, C. and Chen, K., “Gait synthesis and sensory control of stair climbing for a humanoid robot,” IEEE Trans. Ind. Electron. 55 (5), 2111–2120 (2008).Google Scholar

Gao supplementary material

Gao supplementary material 1

Download Gao supplementary material(Video)
Video 13.8 MB

Gao supplementary material

Gao supplementary material 2

Download Gao supplementary material(Video)
Video 10.3 MB