Proceedings Article10.23919/ICCAS50221.2020.9268204
Body Trajectory Generation Using Quadratic Programming in Bipedal Robots
Min. InJoon,Yoo. DongHa,Ahn. MinSung,Han. Jeakweon +3 more
- 13 Oct 2020
- pp 251-257
4
TL;DR: A body trajectory generation method that guarantees real-time stability while minimizing acceleration is proposed that can eliminate the computation time needed for preview control referred to preview time.
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Abstract: The preview control walking method, which is commonly used in bipedal walking, requires jerk and ZMP errors as cost functions to generate body trajectory. Since the two inputs are dependent, optimization to form body trajectory is performed simultaneously with weight factors. Therefore, it is often seen that the resulting body trajectory rapidly changes on velocity according to the weight factors. This eventually requires a torque actuator in order to perform such action. In order to overcome this problem, we apply a method used on a quadruped to a bipedal robot. Since, it only targets to minimize the acceleration of the body trajectory, the body does not require rapid speed change. Also, this method can eliminate the computation time needed for preview control referred to preview time. When applying a quadruped robots walking method that has a relatively large support polygon than that of a bipedal robot, stability deterioration may occur. Therefore, we approached to secure ZMP constraints with relatively small support polygon area as within bipedal robots. In this paper we propose a body trajectory generation method that guarantees real-time stability while minimizing acceleration.
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Citations
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References
Biped walking pattern generation by using preview control of zero-moment point
Shuuji Kajita,Fumio Kanehiro,Kenji Kaneko,Kiyoshi Fujiwara,Kensuke Harada,Kazuhito Yokoi,Hirohisa Hirukawa +6 more
- 10 Nov 2003
TL;DR: A new method of a biped walking pattern generation by using a preview control of the zero-moment point (ZMP) is introduced and a preview controller can be used to compensate the ZMP error caused by the difference between a simple model and the precise multibody model.
Zero-moment point — thirty five years of its life
TL;DR: The paper gives an in-depth discussion of source results concerning ZMP, paying particular attention to some delicate issues that may lead to confusion if this method is applied in a mechanistic manner onto irregular cases of artificial gait, i.e. in the case of loss of dynamic balance of a humanoid robot.
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The 3D linear inverted pendulum mode: a simple modeling for a biped walking pattern generation
Shuuji Kajita,Fumio Kanehiro,Kenji Kaneko,Kazuhito Yokoi,Hirohisa Hirukawa +4 more
- 29 Oct 2001
TL;DR: Geometric nature of trajectories under the 3D-LIPM and a method for walking pattern generation are discussed, and a simulation result of a walking control using a 12-DOF biped robot model is shown.
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Learning, planning, and control for quadruped locomotion over challenging terrain
TL;DR: A floating-base inverse dynamics controller that allows for robust, compliant locomotion over unperceived obstacles and the generalization ability of this controller is demonstrated by presenting results from testing performed by an independent external test team on terrain that has never been shown to us.
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Dynamic balance of a biped robot using fuzzy reinforcement learning agents
Changjiu Zhou,Qingchun Meng +1 more
TL;DR: The sinmtation analysis shows that by incorporation of the human intuitive balancing knowledge and walking evaluation knowledge, the FRL agent's learning rate for side-to-side and front- to-back balance of the simulated biped can be improved.
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