Nothing Special   »   [go: up one dir, main page]

Kim et al., 2019 - Google Patents

Stability control for dynamic walking of bipedal robot with real-time capture point trajectory optimization

Kim et al., 2019

Document ID
10859627863595935937
Author
Kim I
Han Y
Hong Y
Publication year
Publication venue
Journal of Intelligent & Robotic Systems

External Links

Snippet

This paper proposes a stabilization method for dynamic walking of a bipedal robot with real- time optimization of capture point trajectories. We used the capture point trajectories to generate the control input, which is the desired zero moment point (ZMP) with a sliding …
Continue reading at link.springer.com (other versions)

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B25J9/1607—Calculation of inertia, jacobian matrixes and inverses
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
    • G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
    • G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/163—Programme controls characterised by the control loop learning, adaptive, model based, rule based expert control

Similar Documents

Publication Publication Date Title
Kim et al. Stability control for dynamic walking of bipedal robot with real-time capture point trajectory optimization
Gehring et al. Control of dynamic gaits for a quadrupedal robot
Griffin et al. Straight-leg walking through underconstrained whole-body control
Chignoli et al. Online trajectory optimization for dynamic aerial motions of a quadruped robot
Zhou et al. Overview of gait synthesis for the humanoid COMAN
Reher et al. Inverse dynamics control of compliant hybrid zero dynamic walking
Shafiee et al. Online dcm trajectory generation for push recovery of torque-controlled humanoid robots
Ramos et al. Generalizations of the capture point to nonlinear center of mass paths and uneven terrain
Liu et al. Adaptive walking control of biped robots using online trajectory generation method based on neural oscillators
Jeong et al. A robust walking controller optimizing step position and step time that exploit advantages of footed robot
Brown et al. Some elements of design and operation of a smart distribution system
Kajita et al. Biped gait control based on spatially quantized dynamics
Krishna et al. Learning linear policies for robust bipedal locomotion on terrains with varying slopes
Ding et al. Walking stabilization control for humanoid robots on unknown slope based on walking sequences adjustment
Han et al. A heuristic gait template planning and dynamic motion control for biped robots
Zhu et al. Terrain-perception-free quadrupedal spinning locomotion on versatile terrains: Modeling, analysis, and experimental validation
Kim et al. Dynamic bipedal walking using real-time optimization of center of mass motion and capture point-based stability controller
Li et al. Dynamic locomotion of a quadruped robot with active spine via model predictive control
Yu et al. Hierarchical jumping optimization for hydraulic biped wheel-legged robots
Cheng et al. Practice Makes Perfect: an iterative approach to achieve precise tracking for legged robots
Dong et al. On-line gait adjustment for humanoid robot robust walking based on divergence component of motion
Iqbal et al. HT-LIP model based robust control of quadrupedal robot locomotion under unknown vertical ground motion
Park et al. Cooperative-dual-task-space-based whole-body motion balancing for humanoid robots
Griffin et al. Capture point trajectories for reduced knee bend using step time optimization
Stelzer et al. Efficient dynamic modeling, numerical optimal control and experimental results for various gaits of a quadruped robot