a low friction demanding approach in gait planning for humanoid robots during 3d manoeuvres

نویسندگان

majid khadiv

center of excellence in robotics and control, advanced robotics & automated systems (aras) laboratory, department of mechanical engineering, k. n. toosi university of technology, tehran, iran. s. ali. a moosavian

center of excellence in robotics and control, advanced robotics & automated systems (aras) laboratory, department of mechanical engineering, k. n. toosi university of technology, tehran, iran.

چکیده

this paper proposes a gait planning approach to reduce the required friction for a biped robot walking on various surfaces. to this end, a humanoid robot with 18 dof is considered to develop a dynamics model for studying various 3d manoeuvres. then, feasible trajectories are developed to alleviate the fluctuations on the upper body to resemble human-like walking. in order to generate feasible walking patterns, not only horizontal interaction moments for the computation of zmp, but also horizontal forces and vertical moment constraints between the feet and the ground surface are taken into account. since the pelvis trajectory does drastically affect the walking pattern, the focus will be on generating a smooth motion for the pelvis. this smooth motion is generated based on a desired motion for the robot’s centre of mass (com), which is mapped to the joint space using inverse kinematics. in fact, the proposed approach involves computing a moving zmp based on a predefined desired com trajectory to reduce the required friction for stable walking. the suggested gait planning approach (low friction demanding moving-zmp, lfdm) is compared to various existing approaches considering slippage conditions. the obtained results reveal the effectiveness of the proposed method for various walking speeds which will be discussed.

برای دانلود باید عضویت طلایی داشته باشید

برای دانلود متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید

اگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید

منابع مشابه

A Low Friction Demanding Approach in Gait Planning for Humanoid Robots During 3D Manoeuvres

This paper proposes a gait planning approach to reduce the required friction for a biped robot walking on various surfaces. To this end, a humanoid robot with 18 DOF is considered to develop a dynamics model for studying various 3D manoeuvres. Then, feasible trajectories are developed to alleviate the fluctuations on the upper body to resemble human-like walking. In order to generate feasible w...

متن کامل

A Low Friction Demanding Approach in Gait Planning for Humanoid Robots During 3D Manoeuvres

This paper proposes a gait planning approach to reduce the required friction for a biped robot walking on various surfaces. To this end, a humanoid robot with 18 DOF is considered to develop a dynamics model for studying various 3D manoeuvres. Then, feasible trajectories are developed to alleviate the fluctuations on the upper body to resemble human-like walking. In order to generate feasible w...

متن کامل

PSO-Based Path Planning Algorithm for Humanoid Robots Considering Safety

In this paper we introduce an improvement in the path planning algorithm for the humanoid soccer playing robot which uses Ferguson splines and PSO (Particle Swarm Optimization). The objective of the algorithm is to find a path through other playing robots to the ball, which should be as short as possible and also safe enough. Ferguson splines create preliminary paths using random generated para...

متن کامل

Motion Planning for Humanoid Robots

Humanoid robotics hardware and control techniques have advanced rapidly during the last five years. Presently, several companies are developing commercial prototype full-body humanoid robots. This humanoid technology will contribute to the development of sophisticated prostheses in the medical field, as well as human augmentation systems on the military battlefield. In order to improve the auto...

متن کامل

Kinodynamic Planning for Humanoid Robots

For the purpose of realizing the humanoid robot walking on uneven terrain, this paper proposes the kinodynamic gait planning method where both kinematics and dynamics of the system are considered. We can simultaneously plan both the foot-place and the wholebody motion taking the dynamical balance of the robot into consideration. As a dynamic constraint, we consider the differential equation of ...

متن کامل

Exploiting Friction in Torque Controlled Humanoid Robots

A common architecture for torque controlled humanoid robots consists in two nested loops. The outer loop generates desired joint/motor torques, and the inner loop stabilises these desired values. In doing so, the inner loop usually compensates for joint friction phenomena, thus removing their inherent stabilising property that may be also beneficial for high level control objectives. This paper...

متن کامل

منابع من

با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید


عنوان ژورنال:
journal of computational applied mechanics

جلد ۴۵، شماره ۱، صفحات ۴۷-۶۰

میزبانی شده توسط پلتفرم ابری doprax.com

copyright © 2015-2023