Hybrid gait pattern generator capable of rapid and dynamically consistent pattern regeneration

Przemyslaw Kryczka, Petar Kormushev, Kenji Hashimoto, Hun Ok Lim, Nikos G. Tsagarakis, Darwin G. Caldwell, Atsuo Takanishi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

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 languageEnglish
Title of host publication2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2013
PublisherIEEE Computer Society
Pages475-480
Number of pages6
DOIs
Publication statusPublished - 2013
Externally publishedYes
Event2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2013 - Jeju
Duration: 2013 Oct 302013 Nov 2

Other

Other2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2013
CityJeju
Period13/10/3013/11/2

Fingerprint

Trajectories
Robots
Dynamic models
Dynamical systems
Planning

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

Kryczka, P., Kormushev, P., Hashimoto, K., Lim, H. O., Tsagarakis, N. G., Caldwell, D. G., & Takanishi, A. (2013). Hybrid gait pattern generator capable of rapid and dynamically consistent pattern regeneration. In 2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2013 (pp. 475-480). [6677317] IEEE Computer Society. https://doi.org/10.1109/URAI.2013.6677317

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 proceedingConference contribution

Kryczka, P, Kormushev, P, Hashimoto, K, Lim, HO, Tsagarakis, NG, Caldwell, DG & Takanishi, A 2013, Hybrid gait pattern generator capable of rapid and dynamically consistent pattern regeneration. in 2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2013., 6677317, IEEE Computer Society, pp. 475-480, 2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2013, Jeju, 13/10/30. https://doi.org/10.1109/URAI.2013.6677317
Kryczka P, Kormushev P, Hashimoto K, Lim HO, Tsagarakis NG, Caldwell DG et al. Hybrid gait pattern generator capable of rapid and dynamically consistent pattern regeneration. In 2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2013. IEEE Computer Society. 2013. p. 475-480. 6677317 https://doi.org/10.1109/URAI.2013.6677317
Kryczka, Przemyslaw ; Kormushev, Petar ; Hashimoto, Kenji ; Lim, Hun Ok ; Tsagarakis, Nikos G. ; Caldwell, Darwin G. ; Takanishi, Atsuo. / Hybrid gait pattern generator capable of rapid and dynamically consistent pattern regeneration. 2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2013. IEEE Computer Society, 2013. pp. 475-480
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