Modular architecture for humanoid walking pattern prototyping and experiments

Advanced Robotics

Volumn 22, Issue 6, 2008, Pages 589-611

  Stasse, Olivier ^a   Verrelst, Björn ^c   Wieber, Pierre Brice ^d   Vanderborght, Bram ^c   Evrard, Paul ^a   Kheddar, Abderrahmane ^a   Yokoi, Kazuhito ^b  

^a UMI13218 RL Intelligent Systems Research Institute   (Japan)

^b NATIONAL INSTITUTE OF ADVANCED INDUSTRIAL SCIENCE AND TECHNOLOGY AIST   (Japan)

^c VRIJE UNIVERSITEIT BRUSSEL   (Belgium)

^d INRIA   (France)

Author keywords

Design pattern; Humanoid robot; Walking pattern generator

Indexed keywords

ARCHITECTURE; EXPERIMENTS; INTELLIGENT ROBOTS; PROJECT MANAGEMENT; QUADRATIC PROGRAMMING; SOFTWARE ARCHITECTURE; SOFTWARE DESIGN; SOFTWARE PROTOTYPING;

DESIGN PATTERNS; GENERAL (CO); HUMANOID ROBOT (FHR-1); HUMANOID WALKING; MODULAR ARCHITECTURES; PATTERN GENERATORS; QUADRATIC PROBLEMS; REAL EXPERIMENTS; ZERO MOMENTUM;

ARCHITECTURAL DESIGN;

EID: 46249111957     PISSN: 01691864     EISSN: 15685535     Source Type: Journal    
DOI: 10.1163/156855308X305236     Document Type: Article

References (29)

1. Y. Sakagami, R. Watanabe, C. Aoyama, S. Matsunaga, N. Higaki and K. Fujimura, The intelligent Asimo: system overview and integration, in: Proc. Int. Conf. on Intelligent Robots and System, Lausanne, vol. 3, pp. 2478-2483 (2002).
2. K. Nagasaka, Y. Kuroki, S. Suzuki, Y. Itoh and J. Yamaguchi, Integrated motion control for walking, jumping and running on a small bipedal entertainment robot, in: Proc. Int. Conf. on Robotics and Automation, New Orleans, LA, vol. 4, pp. 3189-3194 (2004).
3. F. Kanehiro, K. Fujiwara, S. Kajita, K. Yokoi, K. Kaneko, H. Hirukawa, Y. Nakamura and K. Yamane, Open architecture humanoid robotics platform, in: Proc. Int. Conf. on Robotics and Automation, pp. 24-30 (2002).
4. N. Ando, T. Suehiro, K. Kitagaki and T. Kotoku, RT(robot technology)-component and its standardization - towards component based networked robot systems development, in: Proc. Int. Joint SICE-ICASE Conf., pp. 2633-2638 (2006).
5. L. Flückiger and H. Utz, Lessons from applying modern software methods and technologies to robotics, in: Proc. Int. Workshop on Software Development and Integration in Robotics, Rome (2007).
6. S. Kajita, F. Kanehiro, K. Kaneko, K. Yokoi and H. Hirukawa, The 3d linear inverted pendulum mode: a simple modeling of a biped walking pattern generation, in: Proc. Int. Conf. on Intelligent Robots and Systems, Maui, HI, pp. 239-246 (2001).
7. S. Kajita, T. Yamaura and A. Kobayashi, Dynamic walking control of a biped robot along a potential energy conserving orbit, IEEE Trans. Robotics Automat. 8, 431-438 (1992).
8. S. Kajita, F. Kanehiro, K. Kaneko, K. Fujiwara, K. Harada, K. Yokoi and H. Hirukawa, Biped walking pattern generation by using preview control of zero-moment point, in: Proc. Int. Conf. on Robotics and Automation, Taipei, pp. 1620-1626 (2003).
9. K. Kaneko, K. Harada, S. Kajita and H. Hirukawa, An analytical method for real-time gait planning for humanoid robots, Int. J. Human. Robotics 3, 1-19 (2006).
10. K. Nishiwaki and S. Kagami, Short cycle pattern generation for online walking control system of humanoids, in: Proc. Int. Symp. on Experimental Robotics, Rio de Janeiro, p. 156 (2006).
11. S. Kajita, F. Kanehiro, K. Kaneko, K. Fujiwara, K. Harada, K. Yokoi and H. Hirukawa, Resolved momentum control: humanoid motion planning based on the linear and angular momentum, in: Proc. Int. Conf. on Intelligent Robots and Systems, Las Vegas, NV, pp. 1644-1650 (2003).
12. E. S. Neo, K. Yokoi, S. Kajita, F. Kanehiro and K. Tanie, A switching command-based whole-body operation method for humanoid robots, IEEE/ASME Trans. Mechatron. 10, 546-559 (2005).
13. C. Alexander, A Pattern Language: Towns, Buildings, Construction. Oxford University Press, New York (1977).
14. E. Gamma, R. Helm, R. Johnson and J. Vlissides, Design Patterns: Elements of Reusable Object-Oriented Software. Addison-Wesley, Reading, MA (1994).
15. K. Beck and W. Cunningham, Using pattern languages for object-oriented programs, Technical Report CR-87-43, Apple, Cupertino, CA (1987).
16. K. Beck and W. Cunningham, A laboratory for teaching object-oriented thinking, in: Proc. Conf. on Object-Oriented Programming: Systems, Languages and Applications, New Orleans, LA, pp. 1-6 (1989).
17. B. Meyer and K. Arnout, Componentization: the visitor example, IEEE Computer 39, 23-30 (2006).
18. D. Brugali and G. Menga, Architectural models for global automation systems, IEEE Trans. Robotics Automat. 18, 487-493 (2002).
19. F. Kanehiro and H. Hirukawa, OpenHRP: a software platform for humanoid robotics, in: Proc. Humanoids: Workshop on Humanoid Technologies, Genova (2006).
20. S. Fleury, M. Herrb and R. Chatila, GenoM: a tool for the specification and the implementation of operating modules in a distributed robot architecture, in: Proc. Int. Conf. on Intelligent Robotics and Systems, Grenoble, vol. 2, pp. 842-848 (1997).
21. G. Broten, S. Monckton, J. Geisbrecht and J. Collier, Software systems for robotics an applied research perspective, Adv. Robotic Syst. 3 , 11-16 (2006).
22. P. B. Wieber, Trajectory free linear model predictive control for stable walking in the presence of strong perturbations, in: Proc. Int. Conf. on Humanoid Robots, Genova, pp. 137-142 (2006).
23. M. Morisawa, K. Harada, S. Kajita, K. Kaneko, F. Kanehiro, H. Hirukawa, K. Fujiwara and S. Nakaoka, A biped pattern generation allowing immediate modification of foot placement in real-time, in: Proc. Int. Conf. on Humanoid Robots, Genova, pp. 581-586 (2006).
24. K. Nishiwaki, W. Yoon and S. Kagami, Motion control system that realizes physical interaction between robot's hands and environment during walk, in: Proc. Int. Conf. on Humanoid Robots, Genova, pp. 542-547 (2006).
25. R. Sellaouti, O. Stasse, S. Kajita, K. Yokoi and A. Kheddar, Faster and smoother walking of humanoid HRP-2 with passive toe joints, in: Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Beijng, pp. 4909-4914 (2006).
26. S. Kajita, K. Kaneko, M. Morisawa, S. Nakaoka and H. Hirukawa, ZMP-based biped running enhanced by toe springs, in: Proc. Int. Conf. on Robotics and Automation, Rome, pp. 3963-3969 (2007).
27. B. Verrelst, O. Stasse, K. Yokoi and B. Vanderborght, Dynamically stepping over obstacles by the humanoid robot HRP-2, in: Proc. Conf. on Humanoids Robots, Genova, pp. 117-123 (2006).
28. K. Schittkowski, QL: a Fortran code for convex quadratic programming - user's guide, version 2.11, Report, Department of Computer Science, University of Bayreuth, Bayrenth (2005).
29. O. Stasse, A. Davison, R. Sellaouti and K. Yokoi, Real-time 3D slam for humanoid robot considering pattern generator information, in: Proc. Int. Conf. on Intelligent Robots and Systems, Beijing, pp. 348-355 (2006).