ZMP-Based Biped Running Control

In this article, a running humanoid robot, HRP-2LR, was presented along with its running pattern generation, its controller, and the experimental result. Applying the proposed controller, HRP-2LR could successfully run with average speed of 0.16 m/s, repeating flight phases of 0.06 s and support phases of 0.3 s. Future work consists of the realization of faster running and online running pattern generation.

[1]  Kazuhito Yokoi,et al.  A Running Controller of Humanoid Biped HRP-2LR , 2005, Proceedings of the 2005 IEEE International Conference on Robotics and Automation.

[2]  Masayuki Inaba,et al.  A Fast Dynamically Equilibrated Walking Trajectory Generation Method of Humanoid Robot , 2002, Auton. Robots.

[3]  W. Press,et al.  Numerical Recipes in Fortran: The Art of Scientific Computing.@@@Numerical Recipes in C: The Art of Scientific Computing. , 1994 .

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

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

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

[7]  William H. Press,et al.  The Art of Scientific Computing Second Edition , 1998 .

[8]  Shuuji Kajita,et al.  Real-time 3D walking pattern generation for a biped robot with telescopic legs , 2001, Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164).

[9]  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.

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

[11]  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).

[12]  Kazuhito Yokoi,et al.  Design of advanced leg module for humanoid robotics project of METI , 2002, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292).

[13]  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).

[14]  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).

[15]  F. A. Seiler,et al.  Numerical Recipes in C: The Art of Scientific Computing , 1989 .

[16]  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).

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

[18]  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).

[19]  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.

[20]  William H. Press,et al.  Numerical recipes in C. The art of scientific computing , 1987 .

[21]  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).

[22]  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.