Cartesian Approach for Gait Planning and Control of Biped Robots on Irregular Surfaces

Biped robots possess higher capabilities than other mobile robots for moving on uneven environments. However, due to natural postural instability of these robots, their motion planning and control become a more important and challenging task. This article presents a Cartesian approach for gait planning and control of biped robots without the need to use the inverse kinematics and the joint space trajectories, thus the proposed approach could substantially reduce the processing time in both simulation studies and online implementations. It is based on constraining four main points of the robot in Cartesian space. This approach exploits the concept of Transpose Jacobian control as a virtual spring and damper between each of these points and the corresponding desired trajectory, which leads to overcome the redundancy problem. These four points include the tip of right and left foot, the hip joint, and the total center of mass (CM). Furthermore, in controlling biped robots based on desired trajectories in the...

[1]  Amir Takhmar,et al.  Modified Transpose Jacobian control of a biped robot , 2007, 2007 7th IEEE-RAS International Conference on Humanoid Robots.

[2]  M Vukobratović,et al.  On the stability of biped locomotion. , 1970, IEEE transactions on bio-medical engineering.

[3]  S. Ali A. Moosavian,et al.  Dynamics modeling and tip-over stability of suspended wheeled mobile robots with multiple arms , 2007, 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[4]  John J. Craig,et al.  Introduction to Robotics Mechanics and Control , 1986 .

[5]  S. Ali,et al.  MHS measure for postural stability monitoring and control of biped robots , 2008, 2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics.

[6]  Jong H. Park,et al.  ZMP trajectory generation for reduced trunk motions of biped robots , 1998, Proceedings. 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Innovations in Theory, Practice and Applications (Cat. No.98CH36190).

[7]  Shuuji Kajita,et al.  Biped Walking Pattern Generator allowing Auxiliary ZMP Control , 2006, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[8]  Martin Buss,et al.  Posture modification for biped humanoid robots based on Jacobian method , 2004, 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566).

[9]  Marko B. Popovic,et al.  Ground Reference Points in Legged Locomotion: Definitions, Biological Trajectories and Control Implications , 2005, Int. J. Robotics Res..

[10]  Miomir Vukobratovic,et al.  Zero-Moment Point - Thirty Five Years of its Life , 2004, Int. J. Humanoid Robotics.

[11]  Masayuki Inaba,et al.  Motion planning for humanoid robots under obstacle and dynamic balance constraints , 2001, Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164).

[12]  Amir Takhmar,et al.  Introducing a Cartesian approach for gate planning and control of biped robots and implementing on various slopes , 2007, 2007 7th IEEE-RAS International Conference on Humanoid Robots.

[13]  Ambarish Goswami,et al.  Foot rotation indicator (FRI) point: a new gait planning tool to evaluate postural stability of biped robots , 1999, Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C).

[14]  Yoshihiko Nakamura,et al.  A Fast Online Gait Planning with Boundary Condition Relaxation for Humanoid Robots , 2005, Proceedings of the 2005 IEEE International Conference on Robotics and Automation.

[15]  Hirochika Inoue,et al.  Real-time humanoid motion generation through ZMP manipulation based on inverted pendulum control , 2002, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292).

[16]  Youngjin Choi,et al.  On the stability of indirect ZMP controller for biped robot systems , 2004, 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566).

[17]  Yeng Chai Soh,et al.  Planning and control of a biped robot , 1999 .

[18]  Qiong Wu,et al.  Development of a Complete Dynamic Model of a Planar Five-Link Biped and Sliding Mode Control of Its Locomotion During the Double Support Phase , 2004 .

[19]  Prahlad Vadakkepat,et al.  Genetic algorithm-based optimal bipedal walking gait synthesis considering tradeoff between stability margin and speed , 2009, Robotica.

[20]  S. Ali A. Moosavian,et al.  On the Dynamic tip-over stability of wheeled Mobile manipulators , 2007, Int. J. Robotics Autom..

[21]  Mansoor Alghooneh,et al.  Regulated Sliding Mode Control of a Biped Robot , 2007 .

[22]  William A. Gruver,et al.  Control of a biped robot in the double-support phase , 1992, IEEE Trans. Syst. Man Cybern..