ZMP-based Biped Running Enhanced by Toe Springs

We discuss a ZMP-based running pattern generation for a biped robot equipped with toe springs. Our biped robot HRP-2LT has twelve active DoFs for its legs and two passive DoFs for its toes. The trajectory of the center of mass is designed to realize the specified running motion and the foot trajectories are determined to get proper spring action at lift off phases. They are interpreted into joint angles by using the resolved momentum control. By the simulation and the preliminary experiment, it is shown that the toe springs are effectively used for running and hopping.

[1]  Kazuhito Yokoi,et al.  Resolved momentum control: humanoid motion planning based on the linear and angular momentum , 2003, Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453).

[2]  T. Takenaka,et al.  The development of Honda humanoid robot , 1998, Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146).

[3]  Atsuo Takanishi,et al.  Development of a bipedal humanoid robot-control method of whole body cooperative dynamic biped walking , 1999, Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C).

[4]  Martin Buehler,et al.  The ARL monopod II running robot: control and energetics , 1999, Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C).

[5]  M. Vukobratovic,et al.  On the stability of anthropomorphic systems , 1972 .

[6]  Marc H. Raibert,et al.  Legged Robots That Balance , 1986, IEEE Expert.

[7]  Friedrich Pfeiffer,et al.  Towards the design of a biped jogging robot , 2001, Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164).

[8]  Christine Chevallereau,et al.  Asymptotically Stable Running for a Five-Link, Four-Actuator, Planar Bipedal Robot , 2005, Int. J. Robotics Res..

[9]  Kazuhito Yokoi,et al.  A hop towards running humanoid biped , 2004, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004.

[10]  Marc H. Raibert,et al.  Control Of A Biped Somersault In 3D , 1992, Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems.

[11]  Jessica K. Hodgins,et al.  Three-dimensional human running , 1996, Proceedings of IEEE International Conference on Robotics and Automation.

[12]  Kazuhito Yokoi,et al.  A running experiment of humanoid biped , 2004, 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566).

[13]  Masayuki Inaba,et al.  A Fast Generation Method of a Dynamically Stable Humanoid Robot Trajectory with Enhanced ZMP Constra , 2000 .

[14]  Yoshihiro Kuroki,et al.  Integrated motion control for walking, jumping and running on a small bipedal entertainment robot , 2004, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004.

[15]  Olivier Stasse,et al.  Faster and Smoother Walking of Humanoid HRP-2 with Passive Toe Joints , 2006, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[16]  Jun-Ho Oh,et al.  Walking control of the humanoid platform KHR-1 based on torque feedback control , 2004, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004.

[17]  Masayuki Inaba,et al.  Design and development of research platform for perception-action integration in humanoid robot: H6 , 2000, Proceedings. 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2000) (Cat. No.00CH37113).