ISSN 0253-2778

CN 34-1054/N

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A gait pattern planning algorithm based on linear coupled oscillator model for humanoid robots

  • Department of Automation, University of Science and Technology of China, Hefei 230027, China

Cite this:
https://doi.org/10.3969/j.issn.0253-2778.2014.10.001
  • Received Date: 17 December 2013
  • Accepted Date: 06 March 2014
  • Rev Recd Date: 06 March 2014
  • Publish Date: 30 October 2014
    Abstract

  • Abstract

    For the gait pattern planning algorithm of humanoid robots with the linear coupled oscillator model, some oscillator parameters were chosen by manual adjustment, which makes it difficult to get the parameters values that could ensure stable walking. To reduce the time of parameter selection and simplify the gait planning algorithm, a parameter selection algorithm based on linear coupled model for humanoid robots was proposed. By combining the walking speed, oscillation amplitude of the mass center during walking, and the trajectory curvature of ZMP, the optimization goal was established. The stable margin was defined and chosen as a constraint condition, and the nonlinear constraint method was used to obtain the optimization parameters which could ensure stable walking at faster speed. Simulation experiment demonstrated that the optimization parameters could ensure stable walking with rich stable margin. The proposed method was implemented on the open humanoid platform DARwIn-OP, and the results indicate that the optimized parameters in the linear coupled oscillator can achieve stable walking with fast gait pattern generation.

    Abstract

    For the gait pattern planning algorithm of humanoid robots with the linear coupled oscillator model, some oscillator parameters were chosen by manual adjustment, which makes it difficult to get the parameters values that could ensure stable walking. To reduce the time of parameter selection and simplify the gait planning algorithm, a parameter selection algorithm based on linear coupled model for humanoid robots was proposed. By combining the walking speed, oscillation amplitude of the mass center during walking, and the trajectory curvature of ZMP, the optimization goal was established. The stable margin was defined and chosen as a constraint condition, and the nonlinear constraint method was used to obtain the optimization parameters which could ensure stable walking at faster speed. Simulation experiment demonstrated that the optimization parameters could ensure stable walking with rich stable margin. The proposed method was implemented on the open humanoid platform DARwIn-OP, and the results indicate that the optimized parameters in the linear coupled oscillator can achieve stable walking with fast gait pattern generation.
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    • References(12)
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    梶田秀司. 仿人机器人[M]. 北京：清华大学出版社, 2007.
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    陈恳, 付成龙. 仿人机器人[M]. 北京：清华大学出版社, 2010.
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    Vukobratovic M, Borvac B. Zero-moment point-thirty five years of its life [J]. International Journal of Humanoid Robotics, 2004, 1(1): 157-173.
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    Kajita S, Matsumoto O, Saigo M. Real-time 3D walking pattern generation for a biped robot with telescopic legs[C]// Proceedings of the IEEE International Conference on Robotics and Automation. Seoul, Korea: IEEE Press, 2001, 3: 2 299-2 306.
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    Kajita S, Kanehiro F, Kaneko K, et al. The 3D Linear Inverted Pendulum Mode: A simple modeling for a biped walking pattern generation[C]// Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems. Maui, USA: IEEE Press, 2001, 1: 239-246.
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    Takenaka T, Matsumoto T, Yoshiike T. Real time motion generation and control for biped robot-1st report: Walking gait pattern generation[C]// Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems. St. Louis, USA: IEEE Press, 2009: 1 084-1 091.
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    Sugihara T, Nakamura Y. A fast online gait planning with boundary condition relaxation for humanoid robots[C]// Proceedings of the IEEE International Conference on Robotics and Automation. Barcelona, Spain: IEEE Press, 2005: 305-310.
    [8]
    Kajita S, Kanehiro F, Kaneko K, et al. Biped walking pattern generation by using preview control of zero-moment point[C]// Proceedings of IEEE International Conference on Robotics and Automation. Taipei, China: IEEE, 2003, 2: 1 620-1 626.
    [9]
    Morimoto J, Endo G, Nakanishi J, et al. A biologically inspired biped locomotion strategy for humanoid robots: Modulation of sinusoidal patterns by a coupled oscillator model[J]. IEEE Transactions on Robotics, 2008, 24(1): 185-191.
    [10]
    Endo G, Nakanishi J, Morimoto J, et al. Experimental studies of a neural oscillator for biped locomotion with QRIO[C]// Proceedings of the IEEE International Conference on Robotics and Automation. Barcelona, Spain: IEEE Press, 2005: 596-602.
    [11]
    Ha I, Tamura Y, Asama H. Gait pattern generation and stabilization for humanoid robot based on coupled oscillators[C]// Proceeding of the IEEE/RSJ International Conference on Intelligent Robots and Systems. San Francisco, USA: IEEE Press, 2011: 3 207-3 212.
    [12]
    夏泽洋, 陈恳, 刘莉, 等. 面向仿人机器人自然步态规划的人体步行实验分析[J]. 机器人, 2008, 30(1): 41-46.
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    [1]
    梶田秀司. 仿人机器人[M]. 北京：清华大学出版社, 2007.
    [2]
    陈恳, 付成龙. 仿人机器人[M]. 北京：清华大学出版社, 2010.
    [3]
    Vukobratovic M, Borvac B. Zero-moment point-thirty five years of its life [J]. International Journal of Humanoid Robotics, 2004, 1(1): 157-173.
    [4]
    Kajita S, Matsumoto O, Saigo M. Real-time 3D walking pattern generation for a biped robot with telescopic legs[C]// Proceedings of the IEEE International Conference on Robotics and Automation. Seoul, Korea: IEEE Press, 2001, 3: 2 299-2 306.
    [5]
    Kajita S, Kanehiro F, Kaneko K, et al. The 3D Linear Inverted Pendulum Mode: A simple modeling for a biped walking pattern generation[C]// Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems. Maui, USA: IEEE Press, 2001, 1: 239-246.
    [6]
    Takenaka T, Matsumoto T, Yoshiike T. Real time motion generation and control for biped robot-1st report: Walking gait pattern generation[C]// Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems. St. Louis, USA: IEEE Press, 2009: 1 084-1 091.
    [7]
    Sugihara T, Nakamura Y. A fast online gait planning with boundary condition relaxation for humanoid robots[C]// Proceedings of the IEEE International Conference on Robotics and Automation. Barcelona, Spain: IEEE Press, 2005: 305-310.
    [8]
    Kajita S, Kanehiro F, Kaneko K, et al. Biped walking pattern generation by using preview control of zero-moment point[C]// Proceedings of IEEE International Conference on Robotics and Automation. Taipei, China: IEEE, 2003, 2: 1 620-1 626.
    [9]
    Morimoto J, Endo G, Nakanishi J, et al. A biologically inspired biped locomotion strategy for humanoid robots: Modulation of sinusoidal patterns by a coupled oscillator model[J]. IEEE Transactions on Robotics, 2008, 24(1): 185-191.
    [10]
    Endo G, Nakanishi J, Morimoto J, et al. Experimental studies of a neural oscillator for biped locomotion with QRIO[C]// Proceedings of the IEEE International Conference on Robotics and Automation. Barcelona, Spain: IEEE Press, 2005: 596-602.
    [11]
    Ha I, Tamura Y, Asama H. Gait pattern generation and stabilization for humanoid robot based on coupled oscillators[C]// Proceeding of the IEEE/RSJ International Conference on Intelligent Robots and Systems. San Francisco, USA: IEEE Press, 2011: 3 207-3 212.
    [12]
    夏泽洋, 陈恳, 刘莉, 等. 面向仿人机器人自然步态规划的人体步行实验分析[J]. 机器人, 2008, 30(1): 41-46.
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