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

研究成果: Conference contribution

1 引用 (Scopus)

抄録

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.

元の言語English
ホスト出版物のタイトル2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2013
出版者IEEE Computer Society
ページ475-480
ページ数6
DOI
出版物ステータスPublished - 2013
外部発表Yes
イベント2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2013 - Jeju
継続期間: 2013 10 302013 11 2

Other

Other2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2013
Jeju
期間13/10/3013/11/2

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Trajectories
Robots
Dynamic models
Dynamical systems
Planning

ASJC Scopus subject areas

  • Artificial Intelligence
  • Human-Computer Interaction

これを引用

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. : 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.

研究成果: Conference 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. : 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 その他. 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. 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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