Boundedness Approach to Gait Planning for the Flexible Linear Inverted Pendulum Model

In this paper, we solve the gait planning problem by using the Flexible LIP model, which has been shown to be more realistic w.r.t. the LIP for cost-effective or compliant biped robots for gait generation. We extend a stable inversion approach to obtain bounded Center of Mass (CoM) reference trajectories and show several advantages compared to preview control: avoidance of numerical integration, lower computation time, exact tracking of reference Zero Moment Point (ZMP) trajectories, and the ability to come to an immediate stop.

[1]  Leonardo Lanari,et al.  Boundedness issues in planning of locomotion trajectories for biped robots , 2014, 2014 IEEE-RAS International Conference on Humanoid Robots.

[2]  Oliver Urbann,et al.  Flexible Linear Inverted Pendulum Model for cost-effective biped robots , 2015, 2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids).

[3]  Alin Albu-Schäffer,et al.  Bipedal walking control based on Capture Point dynamics , 2011, 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[4]  Chee-Meng Chew,et al.  Proposal of Augmented Linear Inverted Pendulum model for bipedal gait planning , 2010, 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[5]  L. Silverman.  Inversion of multivariable linear systems , 1969 .

[6]  Dennis W. Hong,et al.  Humanoid locomotion on uneven terrain using the time-varying divergent component of motion , 2014, 2014 IEEE-RAS International Conference on Humanoid Robots.

[7]  Oliver Urbann,et al.  Applying Dynamic Walking Control for Biped Robots , 2009, RoboCup.

[8]  Oliver Urbann,et al.  Observer based biped walking control, a sensor fusion approach , 2013, Auton. Robots.

[9]  Sergey V. Drakunov,et al.  Capture Point: A Step toward Humanoid Push Recovery , 2006, 2006 6th IEEE-RAS International Conference on Humanoid Robots.

[10]  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).

[11]  Leonardo Lanari,et al.  Inversion-based gait generation for humanoid robots , 2015, 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

[12]  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.

[13]  Pierre-Brice Wieber,et al.  Online walking gait generation with adaptive foot positioning through Linear Model Predictive control , 2008, 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[14]  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.

[15]  Oliver Urbann,et al.  Modification of Foot Placement for Balancing Using a Preview Controller Based Humanoid Walking Algorithm , 2013, RoboCup.

[16]  Kazuhito Yokoi,et al.  A realtime pattern generator for biped walking , 2002, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292).

[17]  Alin Albu-Schäffer,et al.  Overview of the torque-controlled humanoid robot TORO , 2014, 2014 IEEE-RAS International Conference on Humanoid Robots.

[18]  Oliver Urbann,et al.  Observer-based dynamic walking control for biped robots , 2009, Robotics Auton. Syst..

[19]  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).

[20]  Leonardo Lanari,et al.  Planning desired center of Mass and zero moment point trajectories for bipedal locomotion , 2015, 2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids).

[21]  Friedrich Pfeiffer,et al.  A collocation method for real-time walking pattern generation , 2007, 2007 7th IEEE-RAS International Conference on Humanoid Robots.

[22]  Reinaldo A. C. Bianchi,et al.  RoboCup 2014: Robot World Cup XVIII , 2015, Lecture Notes in Computer Science.

[23]  Sven Behnke,et al.  Balanced Walking with Capture Steps , 2014, RoboCup.