Hostname: page-component-586b7cd67f-dlnhk Total loading time: 0 Render date: 2024-11-21T18:44:58.744Z Has data issue: false hasContentIssue false
  • English
  • Français

Realization of foot rotation by breaking the kinematic contact constraint

Published online by Cambridge University Press:  25 July 2014

Xuechao Chen ,
Qiang Huang ,
Zhangguo Yu ,
Jing Li ,
Gan Ma ,
Libo Meng  and
Junyao Gao
Xuechao Chen*
Affiliation:
Intelligent Robotics Institute, School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, China Key Laboratory of Biomimetic Robots and Systems, Ministry of Education, China Key Laboratory of Intelligent Control and Decision of Complex System, China
Qiang Huang
Affiliation:
Intelligent Robotics Institute, School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, China Key Laboratory of Biomimetic Robots and Systems, Ministry of Education, China Key Laboratory of Intelligent Control and Decision of Complex System, China
Zhangguo Yu
Affiliation:
Intelligent Robotics Institute, School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, China Key Laboratory of Biomimetic Robots and Systems, Ministry of Education, China Key Laboratory of Intelligent Control and Decision of Complex System, China
Jing Li
Affiliation:
Intelligent Robotics Institute, School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, China Key Laboratory of Biomimetic Robots and Systems, Ministry of Education, China Key Laboratory of Intelligent Control and Decision of Complex System, China
Gan Ma
Affiliation:
Intelligent Robotics Institute, School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, China Key Laboratory of Biomimetic Robots and Systems, Ministry of Education, China Key Laboratory of Intelligent Control and Decision of Complex System, China
Libo Meng
Affiliation:
Intelligent Robotics Institute, School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, China Key Laboratory of Biomimetic Robots and Systems, Ministry of Education, China Key Laboratory of Intelligent Control and Decision of Complex System, China
Junyao Gao
Affiliation:
Intelligent Robotics Institute, School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, China Key Laboratory of Biomimetic Robots and Systems, Ministry of Education, China Key Laboratory of Intelligent Control and Decision of Complex System, China
*
*Corresponding author. E-mail: chenxuechao@bit.edu.cn
Get access Rights & Permissions [Opens in a new window]

Summary

Previous research has revealed that foot rotation of the supporting foot in a single support phase could increase walking speed. This paper presents a method for force-controlled bipeds to realize foot rotation by breaking the kinematic contact constraint between the supporting foot and the ground. An inverse dynamics controller is proposed to make the biped model controllable even when the constraint is broken. In addition, a linear inverted pendulum model is extended to make its ZMP adjustable so that the ZMP can be predefined as required. When the planned ZMP is in the toe, the kinematic contact constraint will be broken and foot rotation can be achieved. A walking simulation demonstrates the effectiveness of the proposed method.

Keywords

Biped robotFoot rotationInverse dynamicsLIPM
Type
Articles
Information
Robotica , Volume 34 , Issue 5: RAAD , May 2016 , pp. 1059 - 1070
Copyright
Copyright © Cambridge University Press 2014 

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1.Sakagami, Y., Watanabe, R., Aoyama, C., Matsunaga, S., Higaki, N. and , Fujimura, “The Intelligent ASIMO: System Overview and Integration,” Proceedings of the IEEE/RSJ International Conference Intelligent Robots and Systems (2002) pp. 2478–2483.Google Scholar
2.Kaneko, K., Kanehiro, F., Kajita, S., Hirukawa, H., Kawasaki, T., Hirata, M., Akachi, K. and Isozumi, T., “Humanoid Robot HRP-2,” Proceedings of the IEEE International Conference on Robotics and Automation (2004) pp. 1083–1090.Google Scholar
3.Yu, Z., Ma, G. and Huang, Q., “Modeling and design of a humanoid robotic face based on an active drive points model,” Adv. Robot. 28 (6), 379–388 (2014).CrossRefGoogle Scholar
4.Pratt, J. and Krupp, B., “Design of a Bipedal Walking Robot,” Prcoeedings of SPIE (2008) pp. 69621F–69621F-13.Google Scholar
5.Boston Dynamics. http://www.bostondynamics.com/robot_petman.htmlGoogle Scholar
6.Kato, I., Ohteru, S., Kobayashi, H., Shirai, K., Uchiyama, A., “Information-Power Machine with Senses and Limbs,” Proceedings CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators (1973) pp. 12–24.Google Scholar
7.Kajita, S., Kanehiro, F., Kaneko, K., Yokoi, K. and Hirukawa, H., “The 3D Linear Inverted Pendulum Mode: A Simple Modeling for a Biped Walking Pattern Generation,” Proceedings of the IEEE/RSJ International Conference Intelligent Robots and Systems (2001) pp. 239–246.Google Scholar
8.Huang, Q., Yokoi, K., Kajita, S., Kaneko, K., Arai, H., Koyachi, N. and Tanie, K., “Planning walking patterns for a biped robot,” IEEE Trans. Robot. Autom. 17 (3) (2001).Google Scholar
9.Lim, H., Kaneshimat, Y. and Takanishi, A., “Online walking pattern generation for biped humanoid robot with trunk,” Proceedings of the IEEE International Conference Robotics and Automation (2002) pp. 3111–3116.Google Scholar
10.Cuccurullo, S. (ed.), Gait Analysis - Physical Medicine and Rehabilitation Board Review (Demos Medical Publishing, 2004).Google Scholar
11.Nishiwaki, K., Kagami, S., Kuniyoshi, Y., Inaba, M. and Inoue, H., “Toe Joints that Enhance Bipedal and Full-Body Motion of Humanoid Robots,” Proceedings of the IEEE International Conference on Robotics and Automation (2002) pp. 3105–C3110.Google Scholar
12.Tlalolini, D., Chevallereau, C. and Aoustin, Y., “Human-like walking: Optimal motion of a bipedal robot with Toe-Rotation motion,” IEEE Trans. Mechatronics 16 (2) (Apr. 2011).CrossRefGoogle Scholar
13.Ahn, C. K., Lee, M. C. and Go, S. J., “Development of a biped robot with Toes to improve gait pattern,” Proceedings of the IEEE/ASME International Conference on Advanced Intelligent Mechatronics (2003) pp. 729–734.Google Scholar
14.Ogura, Y., Shimomura, K., Kondo, H., Morishima, A., Okubo, T., Momoki, S., Lim, H. and Takanishi, A., “Human-like walking with knee stretched, Heel-contact and Toe-off motion by a humanoid robot,” Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (2006) pp. 3976–3981.Google Scholar
15.Huang, Q., Yu, Z., Zhang, W., Xu, W. and Chen, X., “Design and similarity evaluation on humanoid motion based on human motion capture,” Robotica 28, 737–745 (2010).CrossRefGoogle Scholar
16.Moro, F. L., Tsagarakis, N. G. and Caldwell, D. G., “A Human-like Walking for the COmpliant huMANoid COMAN based on CoM Trajectory Reconstruction from Kinematic Motion Primitives,” Proceedings of the IEEE/RSJ International Conference on Humanoid Robots (2011) pp. 364–370.Google Scholar
17.Coros, S., Beaudoin, P. and van de Panne, M., “Generalized Biped Walking Control,” Proceedings of the ACM SIGGRAPH (2010).CrossRefGoogle Scholar
18.Huang, Q. and Nakamura, Y., “Sensory reflex control for humanoid walking,” IEEE Trans. Robot. 21 (5) (Oct. 2005).Google Scholar
19.Featherstone, R., “Spatial vector algebra,” [Online] (2010). Available: http://users.cecs.anu.edu.au/~roy/spatial/Google Scholar
20.Chen, X., Huang, Q., Yu, Z. and Lu, Y., “Robust push recovery by whole-body dynamics control with extremal accelerations,” Robotica 32 (3), 467–476 (2014).CrossRefGoogle Scholar
21.Han, H., Kim, T. and Park, T., “Tolerance Analysis of a Spur Gear train,” Proceedings of 3rd DADS Korean User's Conference (1987) pp. 61–81.Google Scholar