Humanoid Robot Gait Generation Based on Limit Cycle Stability
نویسندگان
چکیده
This paper presents the gait generation and mechanical design of a humanoid robot based on a limit cycle walking method-Virtual Slope Control. This method is inspired by Passive Dynamic Walking. By shortening the swing leg, the robot walking on level ground can be considered as on a virtual slope. Parallel double crank mechanisms and elastic feet are introduced to the 5 DoF robot leg, to make the heelstrike of the swing leg equivalent to the point-foot collision used in Virtual Slope Control. In practical walking, the gait is generated by connecting the two key frames in the sagittal and lateral plane with sinusoids. With the addition of leg rotational movement, the robot achieves a fast forward walking of 2.0leg/s and accomplishes omnidirectional walking favorably.
منابع مشابه
Opposition-based Learning Particle Swarm Optimization of Running Gait for Humanoid Robot
This paper investigates the problem of running gait optimization for humanoid robot. In order to reduce energy consumption and guarantee the dynamic balance including both horizontal and vertical stability, a novel running gait generation based on opposition-based learning particle swarm optimization (PSO) is proposed which aims at high energy efficiency with better stability. In the proposed s...
متن کاملAnalytical Dynamic Modelling of Heel-off and Toe-off Motions for a 2D Humanoid Robot
The main objective of this article is to optimize the walking pattern of a 2D humanoid robot with heel-off and toe-off motions in order to minimize the energy consumption and maximize the stability margin. To this end, at first, a gait planning method is introduced based on the ankle and hip joint position trajectories. Then, using these trajectories and the inverse kinematics, the position tra...
متن کاملUsing Co-existing Attractors of a Sensorimotor Loop for the Motion Control of a Humanoid Robot
The implementation of a biped robot gait is a challenging task within the field of mobile robotics. Particularly, when the robot is subject to unknown disturbance in constantly changing terrain, a stable and robust gait is crucial. Regarding the machine together with the controller as an integrated system, the Dynamical Systems Approach yields a new perspective on legged robots. So called Limit...
متن کاملA Low Friction Demanding Approach in Gait Planning for Humanoid Robots During 3D Manoeuvres
This paper proposes a gait planning approach to reduce the required friction for a biped robot walking on various surfaces. To this end, a humanoid robot with 18 DOF is considered to develop a dynamics model for studying various 3D manoeuvres. Then, feasible trajectories are developed to alleviate the fluctuations on the upper body to resemble human-like walking. In order to generate feasible w...
متن کاملOptimal Multi-criteria Humanoid Robot Gait Synthesis — an Evolutionary Approach
Humanoid robots operating in everyday life environments must generate the gait based on the environmental conditions. Often the gait has to satisfy different objectives. In this paper, we present a new method for humanoid robot gait generation based on multiobjective evolutionary algorithms. In our method, we consider two different conflicting objectives for the humanoid robot gait generation: ...
متن کامل