Numerical construction of balanced state manifold for single-support legged mechanism in sagittal plane

Multibody System Dynamics

Volumn 31, Issue 3, 2014, Pages 257-281

  Kim, Joo H ^a   Joo, Chang B ^a  

^a POLYTECHNIC UNIVERSITY   (United States)

Author keywords

Balanced state domain; Balancing; Biped walking; Falling; Legged mechanism; Optimization

Indexed keywords

EID: 84894469116     PISSN: 13845640     EISSN: None     Source Type: Journal    
DOI: 10.1007/s11044-013-9376-5     Document Type: Article

References (89)

1. Alba, M., Prada, J.C.G., Meneses, J., Rubio, H.: Center of percussion and gait design of biped robots. Mech. Mach. Theory 45(11), 1681-1693 (2010)
2. Albert, A., Gerth, W.: Analytic path planning algorithms for bipedal robots without a trunk. J. Intell. Robot. Syst. 36(2), 109-127 (2003)
3. Anderson, F.C., Pandy, M.G.: Static and dynamic optimization solutions for gait are practically equivalent. J. Biomech. 34(2), 153-161 (2001)
4. Azevedo, C., Andreff, N., Arias, S.: Bipedal walking: from gait design to experimental analysis. Mechatronics 14(6), 639-665 (2004)
5. Bauby, C.E., Kuo, A.D.: Active control of lateral balance in human walking. J. Biomech. 33(11), 1433-1440 (2000)
6. Bourke, A.K., van de Ven, P.W.J., Chaya, A.E., OLaighin, G.M., Nelson, J.: Testing of a long-term fall detection system incorporated into a custom vest for the elderly. In: 30th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, Vancouver, BC, Canada, 20-25 Aug. 2008, pp. 2844-2847 (2008)
7. Chevallereau, C., Sardain, P.: Design and actuation optimization of a 4 axes biped robot for walking and running. In: Proceedings of the IEEE International Conference on Robotics and Automation, San Francisco, CA, USA. 24-28 Apr. 2000, vol. 4, pp. 3365-3370 (2000)
8. Choi, D., Atkeson, C.G., Cho, S.J., Kim, J.Y.: Phase plane control of a humanoid. In: 8th IEEE-RAS International Conference on Humanoid Robots, Daejeon, South Korea, 1-3 Dec. 2008, pp. 145-150 (2008)
9. Czarnetzki, S., Kerner, S., Urbann, O.: Observer-based dynamic walking control for biped robots. Robot. Auton. Syst. 57(8), 839-845 (2009)
10. Djoudi, D., Chevallereau, C., Aoustin, Y.: Optimal reference motions for walking of a biped robot. In: Proceedings of the IEEE International Conference on Robotics and Automation, Barcelona, Spain, 18-22 Apr. 2005, pp. 2002-2007 (2005)
11. Donelan, J.M., Kram, R., Kuo, A.D.: Mechanical work for step-to-step transitions is a major determinant of the metabolic cost of human walking. J. Exp. Biol., 205, 3717-3727 (2002)
12. Ferreira, J.P., Crisóstomo, M., Coimbra, A.P.: Human-like ZMP trajectory reference in sagittal plane for a biped robot. In: The 14th International Conference on Advanced Robotics, Munich, Germany, 22-26 Jun. 2009, pp. 1588-1593 (2009)
13. Fujiwara, K., Kajita, S., Harada, K., Kaneko, K., Morisawa, M., Kanehiro, F., Nakaoka, S., Hirukawa, H.: Towards an optimal falling motion for a humanoid robot. In: 6th IEEE-RAS International Conference on Humanoid Robots, Genoa, Italy, 4-6 Dec. 2006, pp. 524-529 (2006)
14. Fukuda, T., Komata, Y., Arakawa, T.: Stabilization control of biped locomotion robot based learning with GAs having self-adaptive mutation and recurrent neural networks. In: IEEE International Conference on Robotics and Automation, Albuquerque, NM, USA, 20-25 Apr. 1997, vol. 1, pp. 217-222 (1997)
15. Ghiasi, A.R., Alizadeh, G., Mirzaei, M.: Simultaneous design of optimal gait pattern and controller for a bipedal robot. Multibody Syst. Dyn. 23(4), 401-429 (2010)
16. Goswami, A.: Postural stability of biped robots and the foot-rotation indicator (FRI) point. Int. J. Robot. Res. 18(6), 523-533 (1999)
17. Goswami, A., Thuilot, B., Espiau, B.: A study of the passive gait of a compass-like biped robot: symmetry and chaos. Int. J. Robot. Res. 17(12), 1282-1301 (1998)
18. Goswami, A., Kallem, V.: Rate of change of angular momentum and balance maintenance of biped robots. In: IEEE International Conference on Robotics and Automation, New Orleans, LA, USA, 26 Apr.-1 May 2004, vol. 4, pp. 3785-3790 (2004)
19. Granata, K.P., Lockhart, T.E.: Dynamic stability differences in fall-prone and healthy adults. J. Electromyogr. Kinesiol. 18(2), 172-178 (2008)
20. Ha, T., Choi, C.-H.: An effective trajectory generation method for bipedal walking. Robot. Auton. Syst. 55(10), 795-810 (2007)
21. Harada, K., Kajita, S., Kaneko, K., Hirukawa, H.: Dynamics and balance of a humanoid robot during manipulation tasks. IEEE Trans. Robot. 22(3), 568-575 (2006)
22. Hase, K., Yamazaki, N.: Development of three-dimensional whole-body musculoskeletal model for various motion analyses. JSME Int. J. Ser. C, Dyn. Control Robot. Des. Manuf. 40(1), 25-32 (1997)
23. Hemami, H., Camana, P.: Nonlinear feedback in simple locomotion systems. IEEE Trans. Autom. Control 21(6), 855-860 (1976)
24. Herr, H., Popovic, M.: Angular momentum in human walking. J. Exp. Biol. 211, 467-481 (2008)
25. Hofmann, A., Massaquoi, S., Popovic, M., Herr, H.: A sliding controller for bipedal balancing using integrated movement of contact and non-contact limbs. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, Sendai, Japan, 28 Sep.-2 Oct. 2004, vol. 2, pp. 1952-1959 (2004)
26. Hofmann, A., Popovic, M., Herr, H.: Exploiting angular momentum to enhance bipedal center-of-mass control. In: IEEE International Conference on Robotics and Automation, Kobe, Japan, 12-17 May 2009, pp. 4423-4429 (2009)
27. Hurmuzlu, Y., Basdogan, C., Stoianovici, D.: Kinematics and dynamic stability of locomotion of polio patients. J. Biomech. Eng. 118(3), 405-411 (1996)
28. Hyon, S.H., Cheng, G.: Passivity-based full-body force control for humanoids and application to dynamic balancing and locomotion. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, Beijing, China, 9-15 Oct. 2006, pp. 4915-4922 (2006)
29. Iqbal, K., Pai, Y.C.: Predicted region of stability for balance recovery: motion at the knee joint can improve termination of forward movement. J. Biomech. 33(12), 1619-1627 (2000)
30. Kajita, S., Fujiwara, K., Kanehiro, F., Yokoi, K., Saito, H., Harada, K., Kaneko, K., Hirukawa, H.: The first human-size humanoid that can fall over safely and stand-up again. In: IEEE-RSJ International Conference on Intelligent Robots and Systems, Las Vegas, NV, USA, 27 Oct.-1 Nov. 2003, vol. 2, pp. 1920-1926 (2003)
31. Kajita, S., Kanehiro, F., Kaneko, K., Yokoi, K., Hirukawa, H.: The 3D linear inverted pendulum mode: a simple modeling for a biped walking pattern generation. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, Maui, HI, USA. 29 Oct.-3 Nov. 2001, vol. 1, pp. 239-246 (2001)
32. Kalyanakrishnan, S., Goswami, A.: Predicting falls of a humanoid robot through machine learning. In: Twenty-Second IAAI Conference on Artificial Intelligence, Atlanta, GA, USA, 11-15 Jul. 2010, pp. 1793-1798 (2010)
33. Kim, J.H., Yang, J., Abdel-Malek, K.: A novel formulation for determining joint constraint loads during optimal dynamic motion of redundant manipulators with DH representation. Multibody Syst. Dyn. 19(4), 427-451 (2008)
34. Kim, J.H., Xiang, Y., Bhatt, R., Yang, J., Chung, H.J., Arora, J.S., Abdel-Malek, K.: Generating effective whole-body motions of a human-like mechanism with efficient ZMP formulation. Int. J. Robot. Autom. 24(2), 125-136 (2009)
35. Kim, J.H., Yang, J., Abdel-Malek, K.: Planning load-effective dynamic motions of highly articulated human model for generic tasks. Robotica 27(5), 739-747 (2009)
36. Kim, J.H., Xiang, Y., Yang, J., Arora, J.S., Abdel-Malek, K.: Dynamic motion planning of overarm throw for a biped human multibody system. Multibody Syst. Dyn. 24(1), 1-24 (2010)
37. Kim, J.H.: Optimization of throwing motion planning for whole-body humanoid mechanism: sidearm and maximum distance. Mech. Mach. Theory 46(4), 438-453 (2011)
38. Koolen, T., de Boer, T., Rebula, J., Goswami, A., Pratt, J.: Capturability-based analysis and control of legged locomotion, part 1: theory and application to three simple gait models. Int. J. Robot. Res. 31(9), 1094-1113 (2012)
39. Kuffner, J.J., Kagami, S., Nishiwaki, K., Inaba, M., Inoue, H.: Dynamically-stable motion planning for humanoid robots. Auton. Robots 12(1), 105-118 (2002)
40. Kuo, A.D.: Stabilization of lateral motion in passive dynamic walking. Int. J. Robot. Res. 18(9), 917-930 (1999)
41. Lee, S.H., Goswami, A.: Reaction mass pendulum (RMP): an explicit model for centroidal angular momentum of humanoid robots. In: IEEE International Conference on Robotics and Automation, Roma, Italy, 10-14 Apr. 2007, pp. 4667-4672 (2007)
42. Lee, S.H., Goswami, A.: Fall on backpack: damage minimizing humanoid fall on targeted body segment using momentum control. In: IDETC/CIE 2011 ASME International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, Washington, DC, USA, 28-31 Aug. 2011, pp. 703-712 (2011)
43. Lemaire, E.D., Goudreau, L., Yakimovich, T., Kofman, J.: Angular-velocity control approach for stance-control orthoses. IEEE Trans. Neural Syst. Rehabil. Eng. 17(5), 497-503 (2009)
44. Liu, R., Ono, K.: Energy optimal trajectory planning of biped walking motion. In: Proceedings of the International Symposium on Adaptive Motion of Animals and Machines, Montreal, Canada, 8-12 Aug. 2000, pp. WeA-11-3 (2000)
45. Manoonpong, P., Geng, T., Kulvicius, T., Porr, B., Wörgötter, F.: Adaptive, fast walking in a biped robot under neuronal control and learning. PLoS Comput. Biol. 3(7), 1305-1320 (2007), e134
46. McMahon, T.A.: Muscles, Reflexes, and Locomotion. Princeton University Press, Princeton (1984)
47. Mummolo, C., Kim, J.H.: Passive and dynamic gait measures for biped mechanism: formulation and simulation analysis. Robotica 31(4), 555-572 (2013)
48. Ni, X., Chen, W., Liu, J.: A comparison between human walking and passive dynamic walking. In: ICIEA 4th IEEE Conference on Industrial Electronics and Applications, Xi'an, China, May 25-27, 2009, pp. 2552-2555 (2009)
49. Oh, S., Hata, N., Hori, Y.: Proposal of human-friendly motion control and its application to wheelchair. In: SICE 2004 Annual Conference, Sapporo, Japan, Aug. 4-6, 2004, vol. 3, pp. 2214-2219 (2004)
50. Pai, Y.C., Patton, J.: Center of mass velocity-position predictions for balance control. J. Biomech. 30(5), 347-354 (1997)
51. Patton, J.L., Pai, Y.C., Lee, W.A.: Evaluation of a model that determines the stability limits of dynamic balance. Gait Posture 9(1), 38-49 (1999)
52. Peasgood, M., Kubica, E., McPhee, J.: Stabilization of a dynamic walking gait simulation. J. Comput. Nonlinear Dyn. 2(1), 65-72 (2007)
53. Popovic, M.B., Goswami, A., Herr, H.: Ground reference points in legged locomotion: definitions, biological trajectories and control implications. Int. J. Robot. Res. 24(12), 1013-1032 (2005)
54. Pratt, J.E., Tedrake, R.: Velocity-based stability margins for fast bipedal walking. In: Fast Motions in Biomechanics and Robotics. Lecture Notes in Control and Information Sciences, vol. 340, pp. 299-324. Springer, Berlin Heidelberg (2006)
55. Pratt, J., Carff, J., Drakunov, S., Goswami, A.: Capture point: a step toward humanoid push recovery. In: 6th IEEE-RAS International Conference on Humanoid Robots, Genoa, Italy, 4-6 Dec. 2006, pp. 200-207 (2006)
56. Pratt, J., Koolen, T., de Boer, T., Rebula, J., Cotton, S., Carff, J., Johnson, M., Neuhaus, P.: Capturability-based analysis and control of legged locomotion, part 2: application to M2V2, a lower-body humanoid. Int. J. Robot. Res. 31(10), 1117-1133 (2012)
57. Ross, S.D., Tanaka, M.L., Senatore, C.: Detecting dynamical boundaries from kinematic data in biomechanics. Chaos. 20(1), 017507 (2010)
58. Sangwan, V., Taneja, A., Mukherjee, S.: Design of a robust self-excited biped walking mechanism. Mech. Mach. Theory 39(12), 1385-1397 (2004)
59. Sangwan, V., Agrawal, S.K.: Differentially flat design of bipeds ensuring limit cycles. IEEE/ASME Trans. Mechatron. 14(6), 647-657 (2009)
60. Sardain, P., Bessonnet, G.: Forces acting on a biped robot. center of pressure - zero moment point. IEEE Trans. Syst. Man Cybern., Part A, Syst. Hum. 34(5), 630-637 (2004)
61. Saunders, M., Inman, V.T., Eberhart, H.D.: The major determinants in normal and pathological gait. J. Bone Jt. Surg. 35(3), 543-558 (1953)
62. Silva, F., Santos, V.: Towards an autonomous small-size humanoid robot: design issues and control strategies. In: 2005 IEEE International Symposium on Computational Intelligence in Robotics and Automation, Espoo, Finland, 27-30 Jun. 2005, pp. 87-92 (2005)
63. Spong, M.W., Bullo, F.: Controlled symmetries and passive walking. In: The International Federation of Automatic Control 15th Triennial World Congress, Barcelona, Spain, 21-26 Jul. 2002 (2002)
64. Stephens, B.: Humanoid push recovery. In: 7th IEEE-RAS International Conference on Humanoid Robots, Pittsburgh, PA, USA, 29 Nov.-1 Dec. 2007, pp. 589-595 (2007)
65. Stephens, B., Atkeson, C.: Modeling and control of periodic humanoid balance using the linear biped model. In: 9th IEEE-RAS International Conference on Humanoid Robots, Paris, 7-10 Dec. 2009, pp. 379-384 (2009)
66. Takahashi, Y., Takahashi, H., Sakamoto, K., Ogawa, S.: Human balance measurement and human posture assist robot design. In: 38th Annual Conference of the SICE, Morioka, Japan, 28-30 Aug. 1999, pp. 983-988 (1999)
67. Takeguchi, T., Ohashi, M., Kim, J.: Walking mechanism of 3D passive dynamic motion with lateral rolling. In: The 16th IEEE International Symposium on Robot and Human Interactive Communication, Jeju, South Korea, 26-29 Aug. 2007, pp. 240-245 (2007)
68. Takenaka, T., Matsumoto, T., Yoshiike, T.: Real time motion generation and control for biped robot-1st report: walking gait pattern generation. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, St. Louis, MO, USA, 10-15 Oct. 2009, pp. 1084-1091 (2009)
69. Takenaka, T., Matsumoto, T., Yoshiike, T., Shirokura, S.: Real time motion generation and control for biped robot-2nd report: running gait pattern generation. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, St. Louis, MO, USA, 10-15 Oct. 2009, pp. 1092-1099 (2009)
70. Takenaka, T., Matsumoto, T., Yoshiike, T.: Real time motion generation and control for biped robot-3rd report: dynamics error compensation. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, St. Louis, MO, USA, 10-15 Oct. 2009, pp. 1594-1600 (2009)
71. Takenaka, T., Matsumoto, T., Yoshiike, T., Hasegawa, T., Shirokura, S., Kaneko, H., Orita, A.: Real time motion generation and control for biped robot-4th report: integrated balance control. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, St. Louis, MO, USA, 10-15 Oct. 2009, pp. 1601-1608 (2009)
72. Takubo, T., Tanaka, T., Inoue, K., Arai, T.: Emergent walking stop using 3-D ZMP modification criteria map for humanoid robot. In: IEEE International Conference on Robotics and Automation, Roma, Italy, 10-14 Apr. 2007, pp. 2676-2681 (2007)
73. Takubo, T., Inoue, K., Arai, T.: Pushing an object considering the hand reflect forces by humanoid robot in dynamic walking. In: IEEE International Conference on Robotics and Automation, Barcelona, Spain, 18-22 Apr. 2005, pp. 1706-1711 (2005)
74. Tanaka, T., Takubo, T., Inoue, K., Arai, T.: Emergent stop for humanoid robots. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, Beijing, China, 9-15 Oct. 2006, pp. 3970-3975 (2006)
75. Vaughan, C.L., Davis, B.L., O'Connor, J.C.: Dynamics of Human Gait. Kiboho Publishers, Cape Town (1992)
76. Vukobratović, M., Borovac, B.: Zero-moment point-thirty five years of its life. Int. J. Humanoid Robot. 1(1), 157-173 (2004)
77. Vukobratović, M., Potkonjak, V., Babković, K., Borovac, B.: Simulation model of general human and humanoid motion. Multibody Syst. Dyn. 17(1), 71-96 (2007)
78. Waldron, K.J., Estremera, J., Csonka, P.J., Singh, S.P.N.: Analyzing bounding and galloping using simple models. J. Mech. Robot. 1(1), 011002 (2009)
79. Wieber, P.B.: On the stability of walking systems. In: Proceedings of the International Workshop on Humanoid and Human Friendly Robotics, Tsukuba, Japan, 11-12 Dec. 2002, pp. 53-59 (2002)
80. Winter, D.A.: Biomechanics and Motor Control of Human Movement, 3rd edn. Wiley, Hoboken (2005)
81. Wisse, M., Schwab, A.L., van der Linde, R.Q., van der Helm, F.C.T.: How to keep from falling forward: elementary swing leg action for passive dynamic walkers. IEEE Trans. Robot. 21(3), 393-401 (2005)
82. Xiang, Y., Arora, J.S., Abdel-Malek, K.: Physics-based modeling and simulation of human walking: a review of optimization-based and other approaches. Struct. Multidiscip. Optim. 42(1), 1-23 (2010)
83. Yang, C., Wu, Q.: Effects of gravity and friction constraints on bipedal balance control. In: IEEE Conference on Control Applications, Toronto, ON, Canada, 28-31 Aug. 2005, pp. 1093-1098 (2005)
84. Yang, C., Wu, Q.: Effects of constraints on bipedal balance control. In: American Control Conference, Minneapolis, MN, USA, 14-16 Jun. 2006 (2006)
85. Yang, C., Wu, Q.: On the effects of constraints on bipedal balance control during standing. In: American Control Conferences, New York, NY, USA, 9-13 Jul. 2007, pp. 2842-2847 (2007)
86. Yang, J., Kim, J.H.: Static joint torque determination of a human model for standing and seating tasks considering balance. J. Mech. Robot. 2(3), 031005 (2010)
87. Yun, S., Goswami, A., Sakagami, Y.: Safe fall: humanoid robot fall direction change through intelligent stepping and inertia shaping. In: IEEE International Conference on Robotics and Automation, Kobe, Japan, 12-17 May 2009, pp. 781-787 (2009)
88. Zaoui, C., Bruneau, O., Ouezdou, F.B., Maalej, A.: Simulations of the dynamic behavior of a bipedal robot with trunk and arms subjected to 3D external disturbances in a vertical posture, during walking and during object handling. Multibody Syst. Dyn. 21(3), 261-280 (2009)
89. Zielinska, T., Chew, C.M., Kryczka, P., Jargilo, T.: Robot gait synthesis using the scheme of human motions skills development. Mech. Mach. Theory 44(3), 541-558 (2009)