Stretched knee walking with novel inverse kinematics for humanoid robots

Przemyslaw Kryczka, Kenji Hashimoto, Hideki Kondo, Aiman Omer, Hun Ok Lim, Atsuo Takanishi

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

    9 Citations (Scopus)

    Abstract

    A four degrees of freedom (DoF) waist and trunk mechanism, as well as human-like foot, enable the humanoid robot WABIAN-2R to perform human-like walk with stretched knees, and heel-contact and toe-off gait phases. The inverse kinematics (IK) method, used in the present system, requires specification of not only task space reference trajectories, but also reference trajectories for all redundant DoFs. In this paper, we propose a novel, unified inverse kinematics method significantly simplifying the pattern generation. The method enables generation of the above described gait by specifying only the task space trajectories. We divide the forward locomotion task into subtasks with different priorities and combine them in the single IK equation. We also perform experiments in simulation environment as well as on WABIAN-2R, which prove that the method can be used to calculate IK for human-like gait. The equation evaluated in this paper is applied to the forward locomotion task, however it can be easily modified to perform other tasks on humanoid robots with different kinematic structures.

    Original languageEnglish
    Title of host publicationIEEE International Conference on Intelligent Robots and Systems
    Pages3221-3226
    Number of pages6
    DOIs
    Publication statusPublished - 2011
    Event2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11 - San Francisco, CA
    Duration: 2011 Sep 252011 Sep 30

    Other

    Other2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11
    CitySan Francisco, CA
    Period11/9/2511/9/30

    Fingerprint

    Inverse kinematics
    Robots
    Trajectories
    Degrees of freedom (mechanics)
    Kinematics
    Specifications
    Experiments

    ASJC Scopus subject areas

    • Control and Systems Engineering
    • Software
    • Computer Vision and Pattern Recognition
    • Computer Science Applications

    Cite this

    Kryczka, P., Hashimoto, K., Kondo, H., Omer, A., Lim, H. O., & Takanishi, A. (2011). Stretched knee walking with novel inverse kinematics for humanoid robots. In IEEE International Conference on Intelligent Robots and Systems (pp. 3221-3226). [6048815] https://doi.org/10.1109/IROS.2011.6048815

    Stretched knee walking with novel inverse kinematics for humanoid robots. / Kryczka, Przemyslaw; Hashimoto, Kenji; Kondo, Hideki; Omer, Aiman; Lim, Hun Ok; Takanishi, Atsuo.

    IEEE International Conference on Intelligent Robots and Systems. 2011. p. 3221-3226 6048815.

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

    Kryczka, P, Hashimoto, K, Kondo, H, Omer, A, Lim, HO & Takanishi, A 2011, Stretched knee walking with novel inverse kinematics for humanoid robots. in IEEE International Conference on Intelligent Robots and Systems., 6048815, pp. 3221-3226, 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11, San Francisco, CA, 11/9/25. https://doi.org/10.1109/IROS.2011.6048815
    Kryczka P, Hashimoto K, Kondo H, Omer A, Lim HO, Takanishi A. Stretched knee walking with novel inverse kinematics for humanoid robots. In IEEE International Conference on Intelligent Robots and Systems. 2011. p. 3221-3226. 6048815 https://doi.org/10.1109/IROS.2011.6048815
    Kryczka, Przemyslaw ; Hashimoto, Kenji ; Kondo, Hideki ; Omer, Aiman ; Lim, Hun Ok ; Takanishi, Atsuo. / Stretched knee walking with novel inverse kinematics for humanoid robots. IEEE International Conference on Intelligent Robots and Systems. 2011. pp. 3221-3226
    @inproceedings{168c53e410ba465f90a1397682401464,
    title = "Stretched knee walking with novel inverse kinematics for humanoid robots",
    abstract = "A four degrees of freedom (DoF) waist and trunk mechanism, as well as human-like foot, enable the humanoid robot WABIAN-2R to perform human-like walk with stretched knees, and heel-contact and toe-off gait phases. The inverse kinematics (IK) method, used in the present system, requires specification of not only task space reference trajectories, but also reference trajectories for all redundant DoFs. In this paper, we propose a novel, unified inverse kinematics method significantly simplifying the pattern generation. The method enables generation of the above described gait by specifying only the task space trajectories. We divide the forward locomotion task into subtasks with different priorities and combine them in the single IK equation. We also perform experiments in simulation environment as well as on WABIAN-2R, which prove that the method can be used to calculate IK for human-like gait. The equation evaluated in this paper is applied to the forward locomotion task, however it can be easily modified to perform other tasks on humanoid robots with different kinematic structures.",
    author = "Przemyslaw Kryczka and Kenji Hashimoto and Hideki Kondo and Aiman Omer and Lim, {Hun Ok} and Atsuo Takanishi",
    year = "2011",
    doi = "10.1109/IROS.2011.6048815",
    language = "English",
    isbn = "9781612844541",
    pages = "3221--3226",
    booktitle = "IEEE International Conference on Intelligent Robots and Systems",

    }

    TY - GEN

    T1 - Stretched knee walking with novel inverse kinematics for humanoid robots

    AU - Kryczka, Przemyslaw

    AU - Hashimoto, Kenji

    AU - Kondo, Hideki

    AU - Omer, Aiman

    AU - Lim, Hun Ok

    AU - Takanishi, Atsuo

    PY - 2011

    Y1 - 2011

    N2 - A four degrees of freedom (DoF) waist and trunk mechanism, as well as human-like foot, enable the humanoid robot WABIAN-2R to perform human-like walk with stretched knees, and heel-contact and toe-off gait phases. The inverse kinematics (IK) method, used in the present system, requires specification of not only task space reference trajectories, but also reference trajectories for all redundant DoFs. In this paper, we propose a novel, unified inverse kinematics method significantly simplifying the pattern generation. The method enables generation of the above described gait by specifying only the task space trajectories. We divide the forward locomotion task into subtasks with different priorities and combine them in the single IK equation. We also perform experiments in simulation environment as well as on WABIAN-2R, which prove that the method can be used to calculate IK for human-like gait. The equation evaluated in this paper is applied to the forward locomotion task, however it can be easily modified to perform other tasks on humanoid robots with different kinematic structures.

    AB - A four degrees of freedom (DoF) waist and trunk mechanism, as well as human-like foot, enable the humanoid robot WABIAN-2R to perform human-like walk with stretched knees, and heel-contact and toe-off gait phases. The inverse kinematics (IK) method, used in the present system, requires specification of not only task space reference trajectories, but also reference trajectories for all redundant DoFs. In this paper, we propose a novel, unified inverse kinematics method significantly simplifying the pattern generation. The method enables generation of the above described gait by specifying only the task space trajectories. We divide the forward locomotion task into subtasks with different priorities and combine them in the single IK equation. We also perform experiments in simulation environment as well as on WABIAN-2R, which prove that the method can be used to calculate IK for human-like gait. The equation evaluated in this paper is applied to the forward locomotion task, however it can be easily modified to perform other tasks on humanoid robots with different kinematic structures.

    UR - http://www.scopus.com/inward/record.url?scp=84455160617&partnerID=8YFLogxK

    UR - http://www.scopus.com/inward/citedby.url?scp=84455160617&partnerID=8YFLogxK

    U2 - 10.1109/IROS.2011.6048815

    DO - 10.1109/IROS.2011.6048815

    M3 - Conference contribution

    SN - 9781612844541

    SP - 3221

    EP - 3226

    BT - IEEE International Conference on Intelligent Robots and Systems

    ER -