Biped Walking Pattern Generation by Using Preview Control Based on Three-Mass Model

Biped walking robots have been widely researched because biped walking is considered as an effective way to locomote in human environments. There are a lot of ways to generate biped walking patterns, and it is widely known that the model certainty of the robot and the immediate generation of the trajectory are very important. Using preview control is a useful way to generate the walking patterns. By using the preview control method, modeling errors, which are generated by using a simple model, can be compensated by using the preview controller again in the conventional approaches. As a matter of fact, it is known that it takes much time to generate the trajectory by using the preview controller again. In this paper, biped walking pattern generation by using preview control based on a three-mass model is proposed. By using the proposed method, the modeling errors can be decreased without using the preview controller again, which means that the immediate generation of the trajectory can be achieved. The validity of the proposed method is confirmed by numerical examples and experimental results.

[1]  Shuuji Kajita,et al.  Dynamics and balance of a humanoid robot during manipulation tasks , 2006, IEEE Transactions on Robotics.

[2]  Kazuhito Yokoi,et al.  Biped walking pattern generation by using preview control of zero-moment point , 2003, 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422).

[3]  Atsuo Kawamura,et al.  ZMP-Based Online Jumping Pattern Generation for a One-Legged Robot , 2010, IEEE Transactions on Industrial Electronics.

[4]  Ambarish Goswami,et al.  Postural Stability of Biped Robots and the Foot-Rotation Indicator (FRI) Point , 1999, Int. J. Robotics Res..

[5]  Shuuji Kajita,et al.  A universal stability criterion of the foot contact of legged robots - adios ZMP , 2006, Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006..

[6]  Ken Chen,et al.  Gait Synthesis and Sensory Control of Stair Climbing for a Humanoid Robot , 2008, IEEE Transactions on Industrial Electronics.

[7]  Amos Albert,et al.  Analytic Path Planning Algorithms for Bipedal Robots without a Trunk , 2003, J. Intell. Robotic Syst..

[8]  Satoshi Kagami,et al.  High frequency walking pattern generation based on preview control of ZMP , 2006, Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006..

[9]  Masayuki Inaba,et al.  Online generation of humanoid walking motion based on a fast generation method of motion pattern that follows desired ZMP , 2002, IEEE/RSJ International Conference on Intelligent Robots and Systems.

[10]  Kouhei Ohnishi,et al.  Walking Trajectory Planning on Stairs Using Virtual Slope for Biped Robots , 2011, IEEE Transactions on Industrial Electronics.

[11]  Kouhei Ohnishi,et al.  A Walking Stabilization Method Based on Environmental Modes on Each Foot for Biped Robot , 2009, IEEE Transactions on Industrial Electronics.

[12]  Takashi Matsumoto,et al.  Real time motion generation and control for biped robot -1st report: Walking gait pattern generation- , 2009, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[13]  Tsuneo Yoshikawa,et al.  FSW (feasible solution of wrench) for multi-legged robots , 2003, 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422).

[14]  Jong H. Park,et al.  Biped robot walking using gravity-compensated inverted pendulum mode and computed torque control , 1998, Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146).

[15]  Olivier Stasse,et al.  Dynamically Stepping Over Obstacles by the Humanoid Robot HRP-2 , 2006, 2006 6th IEEE-RAS International Conference on Humanoid Robots.

[16]  K. Ohnishi,et al.  Variable compliance control based on soft-landing trajectory for hopping robot , 2004, 30th Annual Conference of IEEE Industrial Electronics Society, 2004. IECON 2004.

[17]  Takashi Matsumoto,et al.  Real time motion generation and control for biped robot -2nd report: Running gait pattern generation- , 2009, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[18]  Kouhei Ohnishi,et al.  Interactive control of environmental mode for biped walking , 2003, IECON'03. 29th Annual Conference of the IEEE Industrial Electronics Society (IEEE Cat. No.03CH37468).

[19]  Shuji Hashimoto,et al.  Haptic Sensing Foot System for Humanoid Robot and Ground Recognition With One-Leg Balance , 2011, IEEE Transactions on Industrial Electronics.

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

[21]  K. Ohnishi,et al.  Real-time walking trajectory generation method at constant body height in single support phase for three-dimensional biped robot , 2009, 2009 IEEE International Conference on Industrial Technology.

[22]  Olivier Stasse,et al.  A biped walking pattern generator based on “half-steps” for dimensionality reduction , 2011, 2011 IEEE International Conference on Robotics and Automation.

[23]  Kazuhito Yokoi,et al.  Real-Time Planning of Humanoid Robot's Gait for Force-Controlled Manipulation , 2007 .

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

[25]  Kouhei Ohnishi,et al.  Mechanical Recognition of Unknown Environment Using Active/Passive Contact Motion , 2009, IEEE Transactions on Industrial Electronics.

[26]  Takashi Matsumoto,et al.  Real time motion generation and control for biped robot -3rd report: Dynamics error compensation- , 2009, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[27]  Kouhei Ohnishi,et al.  Motion control for advanced mechatronics , 1996 .

[28]  Kazuhito Yokoi,et al.  The 3D linear inverted pendulum mode: a simple modeling for a biped walking pattern generation , 2001, Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180).

[29]  K. Ohnishi,et al.  Real-time gait planning for pushing motion of humanoid robot , 2005, 31st Annual Conference of IEEE Industrial Electronics Society, 2005. IECON 2005..

[30]  Olivier Stasse,et al.  Strategies for Humanoid Robots to Dynamically Walk Over Large Obstacles , 2009, IEEE Transactions on Robotics.

[31]  Kouhei Ohnishi,et al.  Collision Avoidance Method of Humanoid Robot With Arm Force , 2004, IEEE Transactions on Industrial Electronics.

[32]  Takeshi Tsuchiya,et al.  Disturbance suppression control with review action of linear DC brushless motor , 1995, IEEE Trans. Ind. Electron..

[33]  Shuuji Kajita,et al.  Pattern Generation of Biped Walking Constrained on Parametric Surface , 2005, Proceedings of the 2005 IEEE International Conference on Robotics and Automation.

[34]  Kouhei Ohnishi,et al.  A control of biped robot which applies inverted pendulum mode with virtual supporting point , 2002, 7th International Workshop on Advanced Motion Control. Proceedings (Cat. No.02TH8623).

[35]  Eiichi Yoshida,et al.  Two-Stage Time-Parametrized Gait Planning for Humanoid Robots , 2010, IEEE/ASME Transactions on Mechatronics.

[36]  Toshiyuki Murakami,et al.  Variable Compliance Control for 3 Dimensional Biped Robot considering Environmental Fluctuations , 1999 .

[37]  Kouhei Ohnishi,et al.  Real-Time Walking Trajectory Generation Method With Three-Mass Models at Constant Body Height for Three-Dimensional Biped Robots , 2011, IEEE Transactions on Industrial Electronics.

[38]  Kemalettin Erbatur,et al.  Natural ZMP Trajectories for Biped Robot Reference Generation , 2009, IEEE Transactions on Industrial Electronics.

[39]  Shuuji Kajita,et al.  International Journal of Humanoid Robotics c ○ World Scientific Publishing Company An Analytical Method on Real-time Gait Planning for a Humanoid Robot , 2022 .

[40]  H. Inoue,et al.  Dynamic walking pattern generation for a humanoid robot based on optimal gradient method , 1999, IEEE SMC'99 Conference Proceedings. 1999 IEEE International Conference on Systems, Man, and Cybernetics (Cat. No.99CH37028).

[41]  Takeshi Tsuchiya,et al.  Disturbance Suppression Control with Preview Action of Linear DC Brushless Motor , 1993 .

[42]  Takashi Matsumoto,et al.  Real time motion generation and control for biped robot -4th report: Integrated balance control- , 2009, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[43]  Akihiko Matsushita,et al.  Decoupled Preview Control System and its Application to Induction Motor Drive , 1993 .