Natural ZMP trajectories for biped robot reference generation

IEEE Transactions on Industrial Electronics

Volumn 56, Issue 3, 2009, Pages 835-845

  Erbatur, Kemalettin ^a   Kurt, Okan ^a,b  

^a SABANCI UNIVERSITY   (Turkey)

^b Product Development Department   (Turkey)

Author keywords

Humanoid robot walking reference generation; Legged locomotion; Zero Moment Point (ZMP)

Indexed keywords

BIPED LOCOMOTION; DYNAMICS; ENERGY EFFICIENCY; FOURIER ANALYSIS; FOURIER SERIES; HARMONIC ANALYSIS; INTELLIGENT ROBOTS; INVERSE KINEMATICS; NAVIGATION; PROGRAMMABLE ROBOTS; THREE DIMENSIONAL; THREE DIMENSIONAL COMPUTER GRAPHICS;

3-D SIMULATIONS; BIPED ROBOTS; ENERGY-EFFICIENT; FOURIER; HUMAN WALKS; HUMANOID ROBOT WALKING REFERENCE GENERATION; INVERTED PENDULUM MODELS; JOINT SPACES; KEY PROBLEMS; LEGGED LOCOMOTION; MOVING SUPPORTS; REFERENCE TRAJECTORIES; SERIES APPROXIMATIONS; SIMULATION STUDIES; STABLE WALKINGS; STEPPING MOTIONS; ZERO MOMENT POINT (ZMP); ZMP TRAJECTORIES;

ROBOTICS;

EID: 63149102642     PISSN: 02780046     EISSN: None     Source Type: Journal    
DOI: 10.1109/TIE.2008.2005150     Document Type: Conference Paper

References (34)

1. Y. Sakagami, R. Watanabe, C. Aoyama, M. Shinichi, N. Higaki, and K. Fujimura, "The intelligent ASIMO: System overview and integration," in Proc. IEEE Int. Conf. Intell. Robots Syst., Lausanne, Switzerland, Oct. 2002, pp. 2478-2483.
2. T. Sawada, T. Takagi, and M. Fujita, "Behavior selection and motion modulation in emotionally grounded architecture for QRIO SDR-4XII," in Proc. IEEE Int. Conf. Intell. Robots Syst., Sendal, Japan, Oct. 2004, vol. 3, pp. 2514-2519.
3. K. Loffler, M. Gienger, F. Pfeiffer, and H. Ulbrich, "Sensors and control concept of a biped robot," IEEE Trans. Ind. Electron., vol. 51, no. 5, pp. 972-980, Oct. 2004.
4. S. Lohmeier, K. Löffler, M. Gienger, H. Ulbrich, and F. Pfeiffer, "Computer system and control of biped 'Johnnie'," in Proc. IEEE Int. Conf. Robot. Autom., New Orleans, LA, Apr. 2004, vol. 4, pp. 4222-4227.
5. K. Kaneko, F. Kanehiro, S. Kajita, K. Yokoyama, K. Akachi, T. Kawasaki, S. Ota, and T. Isozumi, "Design of prototype humanoid robotics platform for HRP," in Proc. IEEE Int. Conf. Intell. Robots Syst., Oct. 2002, vol. 3, pp. 2431-2436.
6. Y. Ogura, H. Aikawa, K. Shimomura, H. Kondo, A. Morishima, H. Lim, and A. Takanishi, "Development of a humanoid robot WABIAN-2," in Proc. IEEE Int. Conf. Robot. Autom., May 2006, pp. 76-81.
7. K. Hirai, M. Hirose, Y. Haikawa, and T. Takenaka, "The development of Honda humanoid robot," in Proc. IEEE Int. Conf. Robot. Autom., May 1998, vol. 2, pp. 1321-1326.
8. M. Vukobratovic, B. Borovac, D. Surla, and D. Stokic, Biped Locomotion: Dynamics, Stability and Application. Berlin, Germany: Springer-Verlag, 1990.
9. M. Raibert, Legged Robots that Balance. Cambridge, MA: MIT Press, 1986.
10. S. Kajita and K. Tani, "Study of dynamic biped locomotion on rugged terrain - Theory and basic experiment-," in Proc. 5th ICAR, Jun. 1991, vol. 1, pp. 741-746.
11. S. Kajita, K. Kaehiro, K. Kaneko, K. Fujiwara, K. Yokoi, and H. Hirukawa, "A real time pattern generator for bipedal walking," in Proc. IEEE Int. Conf. Robot. Autom., May 2002, vol. 1, pp. 31-37.
12. S. Kajita, F. Kanehiro, K. Kaneko, K. Yokoi, and H. Hirukawa, "The 3D linear inverted pendulum mode: A simple modeling for a biped walking pattern generation," in Proc. IEEE/RSJ Int. Conf. Intell. Robots Syst., Oct. 29-Nov. 3 2001, vol. 1, pp. 239-246.
13. S. Kajita, F. Kahehiro, K. Kaneko, K. Fujiwara, K. Harada, K. Yokoi, and H. Hirukawa, "Biped walking pattern generation using preview control of the zero-moment-point," in Proc. IEEE Int. Conf. Robot. Autom., Taipei, Taiwan, Sep. 2003, vol. 2, pp. 1620-1626.
14. T. Sugihara, Y. Nakamura, and H. Inoue, "Real-time humanoid motion generation through ZMP manipulation based on inverted pendulum control," in Proc. IEEE Int. Conf. Robot. Autom., Washington, DC, May 2002, vol. 2, pp. 1404-1409.
15. K. K. Noh, J. G. Kim, and U. Y. Huh, "Stability experiment of a biped walking robot with inverted pendulum," in Proc. 30th Annu. Conf. IEEE IECON, Nov. 2-6, 2004, vol. 3, pp. 2475-2479.
16. M. Shibuya, T. Suzuki, and K. Ohnishi, "Trajectory planning of biped robot using linear pendulum mode for double support phase," in Proc. 32nd Annu. Conf. IEEE IECON, Nov. 2006, pp. 4094-4099.
17. K. Harada, S. Kajita, K. Kaneko, and H. Hirukawa, "Dynamics and balance of a humanoid robot during manipulation tasks," IEEE Trans. Robot. vol. 22, no. 3, pp. 568-575, Jun. 2006.
18. E. Neo, K. Yokoi, S. Kajita, and K. Tanie, "Whole-body motion generation integrating operator's intention and robot's autonomy in controlling humanoid robots," IEEE Trans. Robot., vol. 23, no. 4, pp. 763-775, Aug. 2007.
19. S. Kajita, T. Nagasaki, K. Kaneko, and H. Hirukawa, "ZMP-based biped running control," IEEE Robot. Autom. Mag., vol. 14, no. 2, pp. 63-72, Jun. 2007.
20. K. Harada, S. Kajita, F. Kanehiro, K. Fujiwara, K. Kaneko, K. Yokoi, and H. Hirukawa, "Real-time planning of humanoid robot's gait for force-controlled manipulation," IEEE/ASME Trans. Mechatronics, vol. 12, no. 1, pp. 53-62, Feb. 2007.
21. A. Dasgupta and Y. Nakamura, "Making feasible walking motion of humanoid robots from human motion capture data," in Proc. IEEE Int. Conf. Robot. Autom., Detroit, MI, May 1999, pp. 1044-1049.
22. K. Erbatur, A. Okazaki, K. Obiya, T. Takahashi, and A. Kawamura, "A study on the zero moment point measurement for biped walking robots," in Proc. 7th Int. Workshop Adv. Motion Control, Maribor, Slovenia, 2002, pp. 431-436.
23. C. Zhu, Y. Tomizawa, X. Luo, and A. Kawamura, "Biped walking with variable ZMP, frictional constraint, and inverted pendulum model," in Proc. IEEE Int. Conf. Robot. Biomimetics, Shenyang, China, Aug. 2004, pp. 425-430.
24. O. Kurt and K. Erbatur, "Biped robot reference generation with natural ZMP trajectories," in Proc. 9th IEEE Int. Workshop AMC, Istanbul, Turkey, 2006, pp. 403-410.
25. J. T. Todd, "Perception of gait," J. Exp. Psychol. Hum. Percept. Perform., vol. 91, no. 1, pp. 31-42, Feb. 1983.
26. J. E. Boyd and J. J. Little, "Phase in model-free perception of a gait," in Proc. Workshop Human Motion, Jul. 2000, pp. 3-10.
27. J. Rose and J. G. Grimble, Human Walking. Baltimore, MD: Williams & Wilkins, 1994.
28. Y. Choi, B. J. You, and S. R. Oh, "On the stability of indirect ZMP controller for biped robot systems," in Proc. Int. Conf. Intell. Robots Syst., Sendal, Japan, Jun. 2004, vol. 2, pp. 1966-1971.
29. O. Ayhan and K. Erbatur, "Biped robot walk control via gravity compensation techniques," in Proc. 32nd Annu. Conf. IEEE IECON, Nov. 6-10, 2005, pp. 1797-1802.
30. Y. Fujimoto and A. Kawamura, "Simulation of an autonomous biped walking robot including environmental force interaction," IEEE Robot. Autom. Mag., vol. 5, no. 2, pp. 33-42, Jun. 1998.
31. K. Erbatur and A. Kawamura, "A new penalty based contact modeling and dynamics simulation method as applied to biped walking robots," in Proc. FIRA World Congr., Vienna, Austria, Oct. 1-3, 2003. [CD-ROM].
32. R. W. Hamming, "Lanczos' σ factors and 'The σ factors in the general case.' 3§2.6 and 32.7," in Numerical Methods for Scientists and Engineers, 2nd ed. New York: Dover, 1986, pp. 534-536.
33. J. Foster and F. B. Richards, "The Gibbs phenomenon for piecewise-linear approximation," Amer. Math. Monthly, vol. 98, pp. 47-49, 1991.
34. Y. Fujimoto, "Minimum energy biped running gait and development of energy regeneration leg," in Proc. 8th IEEE Int. Workshop Adv. Motion Control, Mar. 2004, pp. 415-420.