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Universal Walking Control Framework of Biped Robot Based on Dynamic Model and Quadratic Programming

Xiaokun Leng, Songhao Piao, Lin Chang, Zhicheng He, Zheng Zhu, Hang Su
2020 Complexity  
The robot uses divergent component of motion for trajectory planning and introduces the friction cone contact model into the control frame to improve the accuracy of the model.  ...  In order to improve the walking robustness of the biped robot, this paper solves the problem from three aspects: planning method, mathematical model, and control method, forming a robot motion control  ...  the robot walking CP: Capture point, robot's walking trajectory based on DCM planning DCM: Divergent motion component, a walking strategy of biped robot ID: Inverse dynamics, calculate the torque required  ... 
doi:10.1155/2020/2789039 fatcat:iaqbkvj5qbfnta3rzkxjfioyoq

Stepping Stabilization Using a Combination of DCM Tracking and Step Adjustment [article]

Majid Khadiv, Sebastien Kleff, Alexander Herzog, S. Ali. A. Moosavian, Stefan Schaal, Ludovic Righetti
2016 arXiv   pre-print
In this paper, a method for stabilizing biped robots stepping by a combination of Divergent Component of Motion (DCM) tracking and step adjustment is proposed.  ...  The HID enables us to use different combinations of the DCM tracking and step adjustment for stabilizing different biped robots.  ...  Then, they just constrained the divergent part to generate the Divergent Component of Motion (DCM) trajectory based on predefined footprints (ZMP trajectory).  ... 
arXiv:1609.09822v1 fatcat:2jzywzvvp5dnrft7j7rsxa6g7i

人と人型ロボットの運動制御研究におけるN = 1 の大切さ

2018 Journal of the Society of Biomechanisms  
:Threedimensional bipedal walking control based on divergent component of motion, IEEE Transaction on Robotics, 31(2), 355-368, (2015).  ...  , Transaction of the ASME, Journal of Dynamic Systems, Measurement, and Control, 102, 233-239, (1980). 6) Mitobe, L., Capi, G. and Nasu, Y.: Control of walking robots based on manipulation of the zero  ... 
doi:10.3951/sobim.42.1_31 fatcat:zaxlarorzzgsrkkxoy6w6kmzty

Model Predictive Control for Biped Walking Motion Generation

Pierre-Brice Wieber
2014 Journal of the Robotics Society of Japan  
The standard walking motion generation scheme of the Kawada HRP-2 robot has been the first one to implement the other approach, without terminal constraints, and based instead on the optimal control of  ...  Model Predictive Control is one of few suitable methods (...)". We are going to review therefore in this article how Model Predictive Control (MPC) is used to generate stable dynamic walking motions.  ... 
doi:10.7210/jrsj.32.503 fatcat:2ftffgtppzd6bgct7izepka2vy

Reward-Adaptive Reinforcement Learning: Dynamic Policy Gradient Optimization for Bipedal Locomotion [article]

Changxin Huang, Guangrun Wang, Zhibo Zhou, Ronghui Zhang, Liang Lin
2021 arXiv   pre-print
Controlling a non-statically bipedal robot is challenging due to the complex dynamics and multi-criterion optimization involved.  ...  In this work, we propose a novel reward-adaptive reinforcement learning for biped locomotion, allowing the control policy to be simultaneously optimized by multiple criteria using a dynamic mechanism.  ...  Albu-Schäffer, “Three-dimensional bipedal walking control based on divergent component of motion,” [1] A.  ... 
arXiv:2107.01908v2 fatcat:ey2t3vncprayzmvh2h3otk7hru

On-line Gait Adjustment for Humanoid Robot Robust Walking Based on Divergence Component of Motion

Sheng Dong, Zhaohui Yuan, Xiaojun Yu, Jianrui Zhang, Muhammad Tariq Sadiq, Fuli Zhang
2019 IEEE Access  
This paper studies the robust walking problem for humanoid robots by using the divergence component of motion (DCM) method based on linear inverted pendulum model.  ...  70Kg can reach 85Ns, which is much better than the 20Ns of the existing model-based prediction control method.  ...  INDEX TERMS Biped robot, humanoid robot, divergence component of motion (DCM), gait generation, adaptive step duration. I.  ... 
doi:10.1109/access.2019.2949747 fatcat:t32dcgqqhrf57pusrhdjgqhyx4

Applying Dynamic Walking Control for Biped Robots [chapter]

Stefan Czarnetzki, Sören Kerner, Oliver Urbann
2010 Lecture Notes in Computer Science  
This article presents the application of a novel observerbased control system to achieve reactive motion generation for dynamic biped walking.  ...  Experiments in a simulated environment as well as on real robots clearly demonstrate the robustness of the control system.  ...  Motion Generation This section describes the generation of walking patterns based on a simple inverted pendulum model using a sophisticated preview controller to generate motions resulting in a desired  ... 
doi:10.1007/978-3-642-11876-0_7 fatcat:tmuuzk62vzfftedofykzblhmxe

Biped Walking Pattern Generator allowing Auxiliary ZMP Control

Shuuji Kajita, Mitsuharu Morisawa, Kensuke Harada, Kenji Kaneko, Fumio Kanehiro, Kiyoshi Fujiwara, Hirohisa Hirukawa
2006 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems  
An auxiliary ZMP is realized by an inverse system added to a pattern generator based on the ZMP preview control.  ...  A biped walking pattern generator which allows an additional ZMP control (auxiliary ZMP) is presented.  ...  Preview controller based on linear inverted pendulum Biped dynamics in sagittal plane can be approximated by the model of Fig.3 [13] whose dynamics is given bÿ x = g z h (x − p), (2) where x is the horizontal  ... 
doi:10.1109/iros.2006.282233 dblp:conf/iros/KajitaMHKKFH06 fatcat:gjnva2h2lfg6dpc2axkinc74em

Gradient-driven online learning of bipedal push recovery

Marcell Missura, Sven Behnke
2015 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)  
Bipedal walking is a complex and dynamic wholebody motion with balance constraints.  ...  A simple physical model that represents the dominant dynamics of bipedal walking estimates an approximate gradient and suggests how to modify the swing amplitude to restore balance.  ...  Designing a robust walk controller is particularly challenging due to the fact that bipedal walking is a balancecritical motion.  ... 
doi:10.1109/iros.2015.7353402 dblp:conf/iros/MissuraB15 fatcat:ohp543sgybcovmcmrfnqx3tuna

Generation of bipedal walking through interactions among the robot dynamics, the oscillator dynamics, and the environment: Stability characteristics of a five-link planar biped robot

Shinya Aoi, Kazuo Tsuchiya
2010 Autonomous Robots  
We previously developed a locomotion control system for a biped robot using nonlinear oscillators and verified the performance of this system in order to establish adaptive walking through the interactions  ...  These analyses reveal 1) stability characteristics due to locomotion speed, torso, and knee motion, 2) stability improvement due to the modulation of oscillator states based on phase resetting using foot-contact  ...  Acknowledgements This paper is supported in part by a Grantin-Aid for Creative Scientific Research No. 19GS0208 from the Japanese Ministry of Education, Culture, Sports, Science and Technology.  ... 
doi:10.1007/s10514-010-9209-9 fatcat:n7dn7uwe6jdvdg6vmzh7jnmw2e

A Hierarchical Framework to Generate Robust Biped Locomotion Based on Divergent Component of Motion [article]

Mohammadreza Kasaei, Nuno Lau, Artur Pereira
2019 arXiv   pre-print
This paper presents a robust walking framework which not only takes into account the traditional push recovery approaches (e.g., ankle, hip and step strategies) but also uses the concept of Divergent Component  ...  of the Motion (DCM) to adjust next step timing and location.  ...  Indeed, the controller tries to control either the Zero Moment Point (ZMP) or Divergent Component of Motion (DCM) [6] .  ... 
arXiv:1911.07505v1 fatcat:45hjjoe7azgwph2nqbyzyvtleq

A Reactive and Efficient Walking Pattern Generator for Robust Bipedal Locomotion [article]

Fatemeh Nazemi, Aghil Yousefi-koma, Farzad A.shirazi, Majid Khadiv
2017 arXiv   pre-print
In this approach, first, the next step location and timing are decided consistent with the commanded walking velocity and based on the Divergent Component of Motion (DCM) measurement.  ...  Available possibilities to prevent a biped robot from falling down in the presence of severe disturbances are mainly Center of Pressure (CoP) modulation, step location and timing adjustment, and angular  ...  formulated bipedal walking pattern generation as a servo control problem on tracking a feasible ZMP trajectory in a receding horizon.  ... 
arXiv:1710.08612v1 fatcat:p3ptecyyz5gnngb6osykys5omq

A Robust Closed-Loop Biped Locomotion Planner Based on Time Varying Model Predictive Control [article]

Mohammadreza Kasaei, Nuno Lau, Artur Pereira
2019 arXiv   pre-print
A robust locomotion planner is one of the fundamental components for generating stable biped locomotion.  ...  The proposed planner is designed based on a Time-Varying Model Predictive Control (TVMPC) scheme to be able to consider some constraints in the states, inputs and outputs of the system and also mixed input-output  ...  [7] proposed the Divergent Component of Motion (DCM) concept and used it to real-time plan and control of a humanoid walking. Englsberger et al.  ... 
arXiv:1909.06873v1 fatcat:alou6ahicrfcdkjl27msvku5xy

An optimal estimation of feet contact distributed normal reaction forces of walking bipeds

Iyad Hashlamon, Kemalettin Erbatur
2014 2014 IEEE 23rd International Symposium on Industrial Electronics (ISIE)  
The motion of a walking biped has rich information about the contacts with the environment.  ...  The validity of the proposed estimation method was confirmed by simulations on 3D dynamics model of the humanoid robot SURALP while walking.  ...  SIMULATION RESULTS The simulations are carried on 12 degrees of freedom (DOF) biped model consists of two 6-DOF legs and a trunk connecting them. (Fig. 1) .  ... 
doi:10.1109/isie.2014.6864781 dblp:conf/isie/HashlamonE14 fatcat:o7vncbskvfashot5rpbp4fe6m4

Biped Stabilization by Linear Feedback of the Variable-Height Inverted Pendulum Model

Stephane Caron
2020 2020 IEEE International Conference on Robotics and Automation (ICRA)  
This solution is based on "best-effort" pole placement of a 4D divergent component of motion for the VHIP under input feasibility and state viability constraints.  ...  We propose a biped stabilizer based on linear feedback of the VHIP that is simple to implement, coincides with the state-of-the-art for small perturbations and is able to recover from larger perturbations  ...  ACKNOWLEDGMENTS The author warmly thanks Arnaud Tanguy for his assistance with experiments, as well as Niels Dehio and Johannes Englsberger for their feedback on previous versions of this manuscript.  ... 
doi:10.1109/icra40945.2020.9196715 dblp:conf/icra/Caron20 fatcat:j7i6mbw6jrcsfblpberue2szna
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