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Modifiable Walking Pattern of a Humanoid Robot by Using Allowable ZMP Variation

Bum-Joo Lee, D. Stonier, Yong-Duk Kim, Jeong-Ki Yoo, Jong-Hwan Kim
2008 IEEE Transactions on robotics  
Index Terms-3-D linear inverted pendulum mode (3D-LIPM), feasible region, humanoid robot, modifiable walking pattern, walking state, zeromoment point (ZMP) function, ZMP variation. 1552-3098/$25.00  ...  By allowing a variation of zero moment point (ZMP) over the convex hull of foot polygon, it is possible to change the center of mass (CM) position and velocity independently throughout the single support  ...  CONCLUSION A modifiable walking pattern generator was proposed and implemented on the humanoid robot HanSaRam-VII.  ... 
doi:10.1109/tro.2008.926859 fatcat:n7odqfakszcfjnwmfe2hqlik5m

Dynamic Simulation of Modifiable Walking Pattern Generation to Handle Infeasible Navigational Commands for Humanoid Robots

Young-Dae Hong, Ki-Baek Lee, Bumjoo Lee
2016 Journal of Electrical Engineering and Technology  
The modifiable walking pattern generation (MWPG) algorithm can handle dynamic walking commands by changing the walking period, step length, and direction independently.  ...  To achieve the desired CM state, a reference CM trajectory is generated using predefined zero moment point (ZMP) functions.  ...  Review of Modifiable Walking Pattern CM motion for modifiable walking pattern Because the dynamic nature of a humanoid robot is generally formulated as a DAE, it is difficult to solve the dynamic equation  ... 
doi:10.5370/jeet.2016.11.3.751 fatcat:g6r5sgbdpvehlasjd4lefseqta

Stable Modifiable Walking Pattern Algorithm with Constrained Optimized Central Pattern Generator [chapter]

Chang-Soo Park, Jong-Hwan Kim
2013 Advances in Intelligent Systems and Computing  
The effectiveness of the proposed scheme is demonstrated by simulations using a Webots dynamic simulator for a small sized humanoid robot, HSR-IX, developed in the Robot Intelligence Technology (RIT) Lab  ...  Modifiable walking pattern generator (MWPG) generates position trajectory of center of mass (COM) of humanoid robot and CPG generates sagittal swing foot position trajectory.  ...  A modifiable walking pattern generator (MWPG) extends the conventional 3-D LIPM for the zero moment point (ZMP) variation by the closed form functions and allows the bipedal robot to modify the walking  ... 
doi:10.1007/978-3-642-37374-9_22 fatcat:7jekapemevdfhle36nymc3eogq

Command State-Based Modifiable Walking Pattern Generation on an Inclined Plane in Pitch and Roll Directions for Humanoid Robots

Young-Dae Hong, Bum-Joo Lee, Jong-Hwan Kim
2011 IEEE/ASME transactions on mechatronics  
As research on walking pattern generation on the inclined plane, Kajita  ...  Funaro for fabricating prototypes of the Replicator robotic mechanical platform.  ...  To solve these problems, a proposed walking pattern generator is based on a modifiable walking pattern generator (MWPG), which has two closed form functions to allow zero-moment point (ZMP) variation in  ... 
doi:10.1109/tmech.2010.2089530 fatcat:j36yzbv3ibcvbfpqa5zmdeppre

Control Strategy for Modifiable Bipedal Walking on Unknown Uneven Terrain

Woong-Ki Lee, Dongkyoung Chwa, Young-Dae Hong
2016 Journal of Electrical Engineering and Technology  
This paper proposes a novel walking pattern generation method to realize modifiable walking of humanoid robots on unknown uneven terrain.  ...  The proposed method employs a walking pattern generator based on the 3-D linear inverted pendulum model (LIPM), which enables a humanoid robot to vary its walking patterns at every footstep.  ...  In this paper, we propose a novel walking pattern generation method to realize modifiable walking of humanoid robots on unknown uneven terrain.  ... 
doi:10.5370/jeet.2016.11.6.1787 fatcat:2gbwt35hjzcinerpd2gwkied54

Walking Pattern Generation on Inclined and Uneven Terrains for Humanoid Robots [chapter]

Young-Dae Hong, Jong-Hwan Kim
2013 Advances in Intelligent Systems and Computing  
The walking pattern generation method is based on a modifiable walking pattern generator (MWPG) which allows a zero moment point (ZMP) variation in real-time.  ...  Key words: Humanoid robot, 3-D command state (CS), modifiable walking pattern generator (MWPG), locomotion on inclined and uneven terrains, 3-D linear inverted pendulum model (LIPM).  ...  Thus, the MWPG enables the humanoid robot to modify the elements of the walking pattern independently by the ZMP functions without any extra footstep for adjusting the CoM motion.  ... 
doi:10.1007/978-3-642-37374-9_21 fatcat:phcxgwlnnrhfbopk52ik46y4qu

Experimental Study on Modifiable Walking Pattern Generation for Handling Infeasible Navigational Commands

Young-Dae Hong, Bumjoo Lee
2015 Journal of Electrical Engineering and Technology  
Using the modifiable walking pattern generation (MWPG) algorithm, a humanoid can handle dynamic walking commands by changing its walking period, step length, and direction independently.  ...  The feasible navigational command is subsequently translated into the desired center-of-mass (CM) state. Every sample time CM reference is generated using a zero-moment-point (ZMP) variation scheme.  ...  By means of the ZMP variation with closed-form functions, walking patterns are modified as intended by the CS.  ... 
doi:10.5370/jeet.2015.10.6.2368 fatcat:utbbfnlggremjpeya6pqvhprkm

A novel modifiable walking pattern generator on an inclined plane in pitch and roll directions for humanoid robots

Young-Dae Hong, Jong-Hwan Kim
2010 2010 IEEE International Conference on Robotics and Biomimetics  
Using the CM motion, a method for modifiable walking pattern generation on the inclined plane is developed to follow a navigational command set composed of walking period and sagittal and lateral step  ...  In order to overcome these problems, a novel modifiable walking pattern generator for humanoid robots is proposed for modifiable walking on an inclined plane in both pitch and roll directions.  ...  In order to overcome these problems, this paper proposes a novel modifiable walking pattern generator (MWPG) for humanoid robots.  ... 
doi:10.1109/robio.2010.5723362 dblp:conf/robio/HongK10 fatcat:ibu23kj6q5brhh5sn5oyyr2onm

Modifiable walking pattern generation using real-time ZMP manipulation for humanoid robots

Bum-Joo Lee, Daniel Stonier, Yong-Duk Kim, Jeong-Ki Yoo, Jong-Hwan Kim
2007 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems  
This paper utilizes the 3D-LIPM(Linear Inverted Pendulum Model) for generating a walking pattern, but introduces a method that allows for manipulation of the ZMP over the convex hull of the foot polygon  ...  Complex navigational commands require a walking pattern generator that is able to modify the pattern at any point in the walking gait.  ...  CONCLUSIONS A modifiable walking pattern generator was introduced and implemented on the humanoid robot HanSaRam-VII.  ... 
doi:10.1109/iros.2007.4399231 dblp:conf/iros/LeeSKYK07 fatcat:34ljsr4vtbc75oeo4i257jy3xe

A practical decoupled stabilizer for joint-position controlled humanoid robots

D. Kaynov, P. Soueres, P. Pierro, C. Balaguer
2009 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems  
Efficient methods have so far been proposed for planning dynamically stable walking pattern for humanoid robots.  ...  The goal of this paper is to propose a general and practical strategy for designing a stabilizer for jointposition controlled humanoid robots.  ...  As the control input of most part of humanoid robots is the joint position, the angular variation that allows to move the CoM in order to follow a reference ZMP trajectory can be easily computed from inverse  ... 
doi:10.1109/iros.2009.5354431 dblp:conf/iros/KaynovSPB09 fatcat:c3rjvkixqfdhfl4qzvvn6s6ozu

A nonlinear PID stabilizer with spherical projection for Humanoids: From concept to real-time experiments

David Galdeano, Ahmed Chemori, Sebastien Knit, Philippe Fraisse
2014 2014 IEEE-RAS International Conference on Humanoid Robots  
This paper deals with a stabilizer for a hybrid kinematic/dynamic control scheme for humanoid robots.  ...  The result of such a stabilizer is a dynamically stable motion, even with large variations in the inclination of the ground.  ...  The preview control of the ZMP [9] has improved the LIPM by reducing the error induced by the simplification of the dynamics of the humanoid robot.  ... 
doi:10.1109/humanoids.2014.7041438 dblp:conf/humanoids/GaldeanoCKF14 fatcat:gqwz6k7vjjhzdhbbaazf7ouowe

Real-time Footstep Planning and Following for Navigation of Humanoid Robots

Young-Dae Hong
2015 Journal of Electrical Engineering and Technology  
For footstep following, a walking pattern generator based on a 3-D linear inverted pendulum model is utilized, which can generate modifiable walking patterns using the zero-moment point variation scheme  ...  The walking direction is determined by a uni-vector field navigation method, and the allowable yawing range caused by hardware limitation is considered.  ...  Acknowledgements This work was supported by the new faculty research fund of Ajou University.  ... 
doi:10.5370/jeet.2015.10.5.2142 fatcat:5gydh3j4lrhlbgv5iikeemwfpa

3-D Command state-based modifiable walking of a humanoid robot on uneven terrain with different inclinations and heights

Young-Dae Hong, Jong-Hwan Kim
2011 2011 IEEE International Conference on Robotics and Biomimetics  
Thus, a novel MWPG is developed to solve this problem. It is based on the conventional MWPG which allows the zero moment point (ZMP) variation in real-time by closed form functions.  ...  In the previous researches on walking pattern generation on the uneven terrain, the humanoid robot was unable to modify a walking pattern on the uneven terrain without any additional footstep for adjusting  ...  robot to modify the walking pattern independently by the ZMP variation without any additional footstep for adjusting the COM motion.  ... 
doi:10.1109/robio.2011.6181622 dblp:conf/robio/HongK11 fatcat:uv6ihaoikvgbhg54vcqh276uhq

Experimentation of Humanoid Walking Allowing Immediate Modification of Foot Place Based on Analytical Solution

Mitsuharu Morisawa, Kensuke Harada, Shuuji Kajita, Shinichiro Nakaoka, Kiyoshi Fujiwara, Fumio Kanehiro, Kenji Kaneko, Hirohisa Hirukawa
2007 Engineering of Complex Computer Systems (ICECCS), Proceedings of the IEEE International Conference on  
Since their coefficients can be efficiently computed with given boundary conditions, this framework can provide a real-time walking pattern generator for humanoid robots.  ...  The effectiveness of our method is shown by experiments of the humanoid robot HRP-2.  ...  [5] realize a fast generation of dynamically stable humanoid robot walking pattern by discretizing the differential equation.  ... 
doi:10.1109/robot.2007.364091 dblp:conf/icra/MorisawaHKNFKKH07 fatcat:l77ledwbqjekhkaetnlpkpk4tq

Modifiable Walking Pattern Generator on Unknown Uneven Terrain [chapter]

Young-Min Kim, Jong-Hwan Kim
2015 Advances in Intelligent Systems and Computing  
This paper proposes a novel algorithm for humanoid robots to walk on unknown uneven terrain by using the Modifiable Walking Pattern Generator (MWPG).  ...  The effectiveness of the proposed algorithm is demonstrated through computer simulations using the simulation model of the small-sized humanoid robot, HanSaRam-IX (HSR-IX).  ...  Acknowledgements This work was supported by the Technology Innovation Program, 10045252, Development of robot task intelligence technology, funded by the Ministry of Trade, Industry & Energy (MOTIE, Korea  ... 
doi:10.1007/978-3-319-16841-8_11 fatcat:okcj5tahdvgcbno6jk35db26iu
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