Online gait planning with Dynamical 3D-Symmetrization method

This paper proposes a fast online gait planning method with vertical oscillation of body. It uses an analytic solution of equation of motion. In previous works, the analytic solution is calculated under the condition of constant height of COG(center of gravity). However these works cannot treat various motions involving vertical oscillation. Our method can treat COG vertical oscillation by dynamical 3D-Symmetrization. This method symmetrizes dynamic characteristics of vertical motion and horizontal motion by constraining the vertical COG motion with a differential equation. Using this method we can solve for the equations of motion which involve COG vertical oscillation. This can allow the generation of various gaits such as running and dancing. The validity of proposed method is demonstrated on a simulated robot.

[1]  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 .

[2]  Yoshihiko Nakamura,et al.  Enhancement of boundary condition relaxation method for 3D hopping motion planning of biped robots , 2007, 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems.

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

[4]  M Vukobratović,et al.  Contribution to the synthesis of biped gait. , 1969, IEEE transactions on bio-medical engineering.

[5]  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.

[6]  Shuuji Kajita,et al.  OpenHRP: Open Architecture Humanoid Robotics Platform , 2004, Int. J. Robotics Res..

[7]  Yoshihiko Nakamura,et al.  Whole-body Cooperative Reaction Force Manipulation on Legged Robots with COG Jacobian involving Implicit Representation of Unactuated Coordinates , 2006 .

[8]  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.

[9]  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.

[10]  Ryo Kurazume,et al.  The sway compensation trajectory for a biped robot , 2003, IEEE International Conference on Robotics and Automation.