Turning in a Bipedal Robot

doi:10.1016/S1672-6529(13)60225-5

摘要/Abstract

关键词: turning, biped, humanoid, trajectory planning, robot

Abstract:

We report the development of turning behavior on a child-size bipedal robot that addresses two common scenarios: turning in place and simultaneous walking and turning. About turning in place, three strategies are investigated and compared, including body-first, leg-first, and body/leg-simultaneous. These three strategies are used for three actions, respectively: when walking follows turning immediately, when space behind the robot is very tight, and when a large turning angle is desired. Concerning simultaneous walking and turning, the linear inverted pendulum is used as the motion model in the single-leg support phase, and the polynomial-based trajectory is used as the motion model in the double-leg support phase and for smooth motion connectivity to motions in a priori and a posteriori single-leg support phases. Compared to the trajectory generation of ordinary walking, that of simultaneous walking and turning introduces only two extra parameters: one for determining new heading direction and the other for smoothing the Center of Mass (COM) trajectory. The trajectory design methodology is validated in both simulation and experimental environments, and successful robot behavior confirms the effectiveness of the strategy.

Key words: turning, biped, humanoid, trajectory planning, robot

Jau-Ching Lu, Jing-Yi Chen, Pei-Chun Lin. [J]. J4, 2013, 10(3): 292-304.

Jau-Ching Lu, Jing-Yi Chen, Pei-Chun Lin. Turning in a Bipedal Robot[J]. J4, 2013, 10(3): 292-304.

参考文献

[1] Imai T, Moore S T, Raphan T, Cohen B. Interaction of the body, head, and eyes during walking and turning. Experi-mental Brain Research, 2004, 136, 1–18.
[2] Shih C L, Li Y Z, Churng S, Lee T T, Gruver W A. Trajec-tory synthesis and physical admissibility for a biped robot during the single-support phase. IEEE International Con-ference on Robotics and Automation, Cincinnati, USA, 1990, 1646–1652.
[3] Qiang H, Kajita S, Koyachi N, Kaneko K, Yokoi K, Arai H, Komoriya K, Tanie K. A high stability, smooth walking pattern for a biped robot. IEEE International Conference on Robotics and Automation, Detroit, USA, 1999, 65–71.
[4] Qiang H, Yokoi K, Kajita S, Kaneko K, Arai H, Koyachi N, Tanie K. Planning walking patterns for a biped robot. IEEE Transactions on Robotics and Automation, 2001, 17, 280–289.
[5] Sugihara T, Nakamura Y. A fast online gait planning with boundary condition relaxation for humanoid robots. IEEE International Conference on Robotics and Automation, Barcelona, Spain, 2005, 305–310.
[6] Seung-Suk H, Jae-Hyoung Y, Young-Joon H, Hern-Soo H. Natural gait generation of biped robot based on analysis of human's gait. International Conference on Smart Manufac-turing Application, Gyeonggi-do, Korea, 2008, 30–34.
[7] Chiang M H, Chang F R. Anthropomorphic design of the human-like walking robot. Journal of Bionic Engineering, 2013, 10, 186–193.
[8] Luo X, Xu W L. Planning and control for passive dynamics
based walking of 3D biped robots. Journal of Bionic Engi-neering, 2012, 9, 143–155.
[9] Hun-ok L, Takanishi A. Realization of continuous biped walking. IEEE International Conference on Systems, Man, and Cybernetics, Tucson, USA, 2001, 1630–1635.
[10] 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. IEEE/RSJ International Conference on Intelligent Robots and Systems, Maui, USA, 2001, 239–246.
[11] Hu L Y, Zhou C J, Wu B, Yang T W, Yue Pik Kong. Loco-motion planning and implementation of humanoid robot Robo-Eectus Senior (RESr-1). IEEE-RAS International Conference on Humanoid Robots, Pittsburgh, USA, 2007, 526–531.
[12] Yu Z G, Huang Q, Chen X C, Xu W, Li G, Li K J. On-line trajectory generation for a humanoid robot based on com-bination of off-line patterns. ICIA International Conference on Information and Automation, Zhuhai, China, 2009, 84–89.
[13] Kim E, Kim T, Kim J W. Three-dimensional modelling of a humanoid in three planes and a motion scheme of biped turning in standing. IET Control Theory & Applications, 2009, 3, 1155–1166.
[14] Peng S J, Sui H T, Ma H X. A simulation and experiment research on turning gait planning of blackmann-II humanoid robot. IEEE International Conference on Control and Automation (ICCA), Xiamen, China, 2010, 719–724.
[15] Shi G Q, Wang H, Fang B F. Online omnidirectional walking patterns generation for biped robot. International Confer-ence on Electronic Measurement & Instruments, Beijing, China, 2009, 856–861.
[16] Harada K, Miura K, Morisawa M, Kaneko K, Nakaoka S, Kanehiro F. Toward human-like walking pattern generator. IEEE/RSJ International Conference on Intelligent Robots and Systems, St. Louis, USA, 2009, 1071–1077.
[17] Miura K, Morisawa M, Nakaoka S, Kanehiro F, Harada K, Kaneko K, Kajita S. Robot motion remix based on motion capture data towards human-like locomotion of humanoid robots. IEEE-RAS International Conference on Humanoid Robots, Paris, France, 2009, 596–603.
[18] Nakaoka S, Nakazawa A, Yokoi K, Ikeuchi K. Leg motion primitives for a dancing humanoid robot. IEEE International Conference on Robotics and Automation, New Orleans, LA, USA, 2004, 610–615.
[19] Nakaoka S, Nakazawa A, Kanehiro F, Kaneko K, Morisawa M, Ikeuchi K. Task model of lower body motion for a biped humanoid robot to imitate human dances. IEEE/RSJ Inter-national Conference on Intelligent Robots and Systems, 2005, 3157–3162.
[20] Zhao X J, Huang Q, Peng Z Q, Li K J. Kinematics mapping and similarity evaluation of humanoid motion based on human motion capture. Proceedings of IEEE/RSJ Interna-tional Conference on Intelligent Robots and Systems, Sendai, Japan, 2004, 840–745.
[21] ASIMO, Honda Motor Co, available at:
http://asimo.honda.com/downloads/pdf/asimo-technical-information.pdf
[22] Sakagami Y, Watanabe R, Aoyama C, Matsunaga S, Higaki N, Fujimura K. The intelligent ASIMO: System overview and integration. IEEE/RSJ International Conference on In-telligent Robots and Systems, 2002, 3, 2478–2483.
[23] Miura K, Nakaoka S, Morisawa M, Kanehiro F, Harada K, Kajita S. Analysis on a friction based "twirl" for biped robots. IEEE International Conference on Robotics and Automation (ICRA), Alaska, USA, 2010, 4249–4255.
[24] K Miura, Kanehiro F, Kaneko K, Kajita S, Yokoi K. Quick slip-turn of HRP-4C on its toes. IEEE International Con-ference on Robotics and Automation (ICRA), Saint Paul, USA, 2012, 3527–3528.
[25] Hashimoto K, Yoshimura Y, Kondo H, Hun-ok L, Takanishi A. Realization of quick turn of biped humanoid robot by using slipping motion with both feet. IEEE International Conference on Robotics and Automation (ICRA), Shanghai, China, 2011, 2041–2046.
[26] Vukobratovic M, Borovac B. Zero-moment point- thirty five years of its life. International Journal of Humanoid Robotics, 2004, 1, 147–173.
[27] Sugihara T, Nakamura Y, Inoue H. Real-time humanoid motion generation through ZMP manipulation based on in-verted pendulum control. Proceedings of IEEE International Conference on Robotics and Automation, Washington, USA, 2002, 1404–1409.