Abstract
We propose a two-stage gait pattern generation scheme for the full-scale humanoid robots, that considers the dynamics of the system throughout the process. The fist stage is responsible for generating the preliminary motion reference, such as step position, timing and trajectory of Center of Mass (CoM), while the second stage serves as dynamics filter which employs a multi-body model and based on Zero Moment Point (ZMP) reference trajectory generates CoM reference trajectory which defines a locomotion stable when executed on the full-scale multi-degree-of-freedom humanoid robot. The approach thanks to introducing a dynamic model at the stage of feet placement planning provides the ZMP reference, which is ensured to be feasible for the robot. Thanks to the fact it enables instantaneous regeneration of motion. The paper contains description of two approaches used in the first and second stage, as well as experimental results proving the effectiveness of the method. The fast calculation time and the use of the system's dynamic state as initial conditions for pattern generation makes it a good candidate for the real-time gait pattern generator.
| Original language | English |
|---|---|
| Title of host publication | 2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2013 |
| Publisher | IEEE Computer Society |
| Pages | 475-480 |
| Number of pages | 6 |
| DOIs | |
| Publication status | Published - 2013 |
| Externally published | Yes |
| Event | 2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2013 - Jeju Duration: 2013 Oct 30 → 2013 Nov 2 |
Other
| Other | 2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2013 |
|---|---|
| City | Jeju |
| Period | 13/10/30 → 13/11/2 |
Fingerprint
Keywords
- bipedal locomotion
- humanoid robots
- LIP
- natural dynamics
- pattern generation
- Preview Control
- real-time control
- ZMP
ASJC Scopus subject areas
- Artificial Intelligence
- Human-Computer Interaction
Cite this
Hybrid gait pattern generator capable of rapid and dynamically consistent pattern regeneration. / Kryczka, Przemyslaw; Kormushev, Petar; Hashimoto, Kenji; Lim, Hun Ok; Tsagarakis, Nikos G.; Caldwell, Darwin G.; Takanishi, Atsuo.
2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2013. IEEE Computer Society, 2013. p. 475-480 6677317.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Hybrid gait pattern generator capable of rapid and dynamically consistent pattern regeneration
AU - Kryczka, Przemyslaw
AU - Kormushev, Petar
AU - Hashimoto, Kenji
AU - Lim, Hun Ok
AU - Tsagarakis, Nikos G.
AU - Caldwell, Darwin G.
AU - Takanishi, Atsuo
PY - 2013
Y1 - 2013
N2 - We propose a two-stage gait pattern generation scheme for the full-scale humanoid robots, that considers the dynamics of the system throughout the process. The fist stage is responsible for generating the preliminary motion reference, such as step position, timing and trajectory of Center of Mass (CoM), while the second stage serves as dynamics filter which employs a multi-body model and based on Zero Moment Point (ZMP) reference trajectory generates CoM reference trajectory which defines a locomotion stable when executed on the full-scale multi-degree-of-freedom humanoid robot. The approach thanks to introducing a dynamic model at the stage of feet placement planning provides the ZMP reference, which is ensured to be feasible for the robot. Thanks to the fact it enables instantaneous regeneration of motion. The paper contains description of two approaches used in the first and second stage, as well as experimental results proving the effectiveness of the method. The fast calculation time and the use of the system's dynamic state as initial conditions for pattern generation makes it a good candidate for the real-time gait pattern generator.
AB - We propose a two-stage gait pattern generation scheme for the full-scale humanoid robots, that considers the dynamics of the system throughout the process. The fist stage is responsible for generating the preliminary motion reference, such as step position, timing and trajectory of Center of Mass (CoM), while the second stage serves as dynamics filter which employs a multi-body model and based on Zero Moment Point (ZMP) reference trajectory generates CoM reference trajectory which defines a locomotion stable when executed on the full-scale multi-degree-of-freedom humanoid robot. The approach thanks to introducing a dynamic model at the stage of feet placement planning provides the ZMP reference, which is ensured to be feasible for the robot. Thanks to the fact it enables instantaneous regeneration of motion. The paper contains description of two approaches used in the first and second stage, as well as experimental results proving the effectiveness of the method. The fast calculation time and the use of the system's dynamic state as initial conditions for pattern generation makes it a good candidate for the real-time gait pattern generator.
KW - bipedal locomotion
KW - humanoid robots
KW - LIP
KW - natural dynamics
KW - pattern generation
KW - Preview Control
KW - real-time control
KW - ZMP
UR - http://www.scopus.com/inward/record.url?scp=84899059640&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84899059640&partnerID=8YFLogxK
U2 - 10.1109/URAI.2013.6677317
DO - 10.1109/URAI.2013.6677317
M3 - Conference contribution
AN - SCOPUS:84899059640
SP - 475
EP - 480
BT - 2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2013
PB - IEEE Computer Society
ER -