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Modifiable walking pattern generation using real-time ZMP manipulation for humanoid robots
2007
2007 IEEE/RSJ International Conference on Intelligent Robots and Systems
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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
Real-Time Planning of Humanoid Robot's Gait for Force-Controlled Manipulation
2007
IEEE/ASME transactions on mechatronics
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This paper proposes a new style of manipulation by a humanoid robot. ...
Also, for planning the gait in real-time, we newly propose an analytical method where the newly calculated trajectory of the robot motion is smoothly connected to the current one. ...
Real-time Generation of Gait Pattern: In most of the previous researches [8] , [9] , [12] , the gait pattern for a biped robot has been generated offline in advance of the actual motion. ...
doi:10.1109/tmech.2006.886254
fatcat:xcwghmu7sbg7dj2nw3gt54pxde
Real-time planning of humanoid robot's gait for force controlled manipulation
2004
IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004
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This paper proposes a new style of manipulation by a humanoid robot. ...
Also, for planning the gait in real-time, we newly propose an analytical method where the newly calculated trajectory of the robot motion is smoothly connected to the current one. ...
Real-time Generation of Gait Pattern: In most of the previous researches [8] , [9] , [12] , the gait pattern for a biped robot has been generated offline in advance of the actual motion. ...
doi:10.1109/robot.2004.1307217
dblp:conf/icra/HaradaKKFKYH04
fatcat:5eapxqc4xvhavo6h2qpibmnp6q
Real-Time Planning of Humanoid Robot's Gait for Force Controlled Manipulation
力制御型マニピュレーションに基づくヒューマノイドロボットの実時間歩容計画
2005
Transactions of the Japan Society of Mechanical Engineers Series C
力制御型マニピュレーションに基づくヒューマノイドロボットの実時間歩容計画
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This paper proposes a new style of manipulation by a humanoid robot. ...
Also, for planning the gait in real-time, we newly propose an analytical method where the newly calculated trajectory of the robot motion is smoothly connected to the current one. ...
Real-time Generation of Gait Pattern: In most of the previous researches [8] , [9] , [12] , the gait pattern for a biped robot has been generated offline in advance of the actual motion. ...
doi:10.1299/kikaic.71.3181
fatcat:pgxo4puz45civiw22axozkxkqq
Slip observer for walking on a low friction floor
2005
2005 IEEE/RSJ International Conference on Intelligent Robots and Systems
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Although biped humanoid robots are expected to easily adapt to environments designed for human, in fact they tend to tip over easily on real environments. ...
For a practical use, it is one of important issues to stabilize a biped walking on an unexpected slippery floor with a low friction. ...
Hajime Saito who are members of General Robotix, Inc. for their valuable comments. ...
doi:10.1109/iros.2005.1545184
dblp:conf/iros/KanekoKKMFHH05
fatcat:34argtunqrcv7cwdz4tnoyiuku
An Open Loop Walking on Different Slopes for NAO Humanoid Robot
2012
Procedia Engineering
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Dynamic gait planning for humanoid robots encounters difficulties such as stability, speed, and smoothness. ...
Then, the stability of the motion is guaranteed using Zero Moment Point (ZMP) stability criterion. ...
In this paper, a trajectory planning approach is proposed for NAO humanoid robot based on ZMP criterion using carttable model. ...
doi:10.1016/j.proeng.2012.07.176
fatcat:ttfadctykfe7bnnymlxcoeutze
Biped Walking Pattern Generator allowing Auxiliary ZMP Control
2006
2006 IEEE/RSJ International Conference on Intelligent Robots and Systems
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A biped walking pattern generator which allows an additional ZMP control (auxiliary ZMP) is presented. ...
An auxiliary ZMP is realized by an inverse system added to a pattern generator based on the ZMP preview control. ...
INTRODUCTION A number of successful biped humanoid robots have been adapting the Zero-Moment Point (ZMP) [1] , [2] for their walking pattern generation and control. ...
doi:10.1109/iros.2006.282233
dblp:conf/iros/KajitaMHKKFH06
fatcat:gjnva2h2lfg6dpc2axkinc74em
The Rh-1 Full-Size Humanoid Robot: Control System Design and Walking Pattern Generation
[chapter]
2010
Climbing and Walking Robots
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In addition, real-time walking pattern generation is possible, which changes direction, length and step width at any time using the information from sensors or by external command of the humanoid robot ...
www.intechopen.com The Rh-1 full-size humanoid robot: Control system design and Walking pattern generation
489 This upper limit of the sample time is a strict real-time requirement considering the complexity ...
doi:10.5772/10422
fatcat:rxwi5xwdr5gathgzzyyymqe3i4
Experimental realization of dynamic walking of the biped humanoid robot KHR-2 using zero moment point feedback and inertial measurement
2006
Advanced Robotics
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This paper describes a novel control algorithm for dynamic walking of biped humanoid robots. For the test platform, we developed KHR-2 (KAIST Humanoid Robot-2) according to our design philosophy. ...
First, for the biped walking motion, the motion control architecture is built and then an appropriate standard walking pattern is designed for the humanoid robots by observing the human walking process ...
Acknowledgements This research was mainly supported by KAIST (Korea Advanced Institute of Science, and Technology) and partly supported by HWRS (Human Welfare Robotic System) and the BK-21 (Brain Korea ...
doi:10.1163/156855306777361622
fatcat:fbqqsrkt75dshe7456wi2audgm
Humanoid Robot System, HanSaRam-VII for RoboMarathon in HuroCup
2008
IFAC Proceedings Volumes
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In addition, time-domain passivity control algorithm is introduced to guarantee the stable walking pattern generation. The performance of the system is demonstrated through the RoboMarathon. ...
This distributed control architecture includes vision processing, navigation and on-line walking pattern generation algorithm. ...
Most of the humanoid robot researches are focusing on walking pattern generation. ...
doi:10.3182/20080706-5-kr-1001.00516
fatcat:3w2qah47gzaa3i7xdobx3dbs2a
Fast foot prints re-planning and motion generation during walking in physical human-humanoid interaction
2009
2009 9th IEEE-RAS International Conference on Humanoid Robots
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This is obtained using a real-time pattern generator allowing on-line foot-print modification integrated in a stack of controllers. ...
In this paper a system allowing real-time interaction between a human and a humanoid robot while walking is presented. ...
REAL-TIME WALKING PATTERN GENERATOR This section recalls briefly the method proposed by Morisawa et al. [7] . ...
doi:10.1109/ichr.2009.5379563
dblp:conf/humanoids/StasseEPMK09
fatcat:chrllkltrnbifpoz55aaeavwn4
MODELING AND SIMULATION OF THE HUMANOID ROBOT HOAP-3 IN THE OPENHRP3 PLATFORM
2013
Cybernetics and systems
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This will be the first step before testing the motion patterns in the real HOAP-3. We use the OpenHRP3 platform for the creation and validation of the robot model and tasks. ...
The aim of this work is to model and simulate the humanoid robot HOAP-3 in the OpenHRP3 platform. ...
This is a free solution that will be used in this work to model the humanoid robot HOAP-3 and simulate walking patterns before the final test in real time with the real robot. ...
doi:10.1080/01969722.2013.832095
fatcat:ldas3dnid5et3lualbx7geg7bm
Intercontinental, multimodal, wide-range tele-cooperation using a humanoid robot
2009
2009 IEEE/RSJ International Conference on Intelligent Robots and Systems
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humanoid robot. ...
Furthermore, a task-based control framework, including a force-based control for the arms as well as a walking pattern generation, is presented to realize stable whole-body motions of the highly redundant ...
Hence the pattern generator is used as a planner which generates a stable motion within a fixed time (currently 3.2s). ...
doi:10.1109/iros.2009.5354412
dblp:conf/iros/EvrardMSKSWPB09
fatcat:twwqpa6xubgihkpobp23wxaufm
Integrating geometric constraints into reactive leg motion generation
2010
2010 IEEE/RSJ International Conference on Intelligent Robots and Systems
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It can generate feasible walking pattern in real-time by modifying the swing leg motion and the next landing position at each control cycle. ...
The proposed method is validated by experiments using a humanoid robot HRP-2. ...
motion planning and execution through online information structuring in real-world environment". ...
doi:10.1109/iros.2010.5651634
dblp:conf/iros/KanehiroMSKY10
fatcat:d6f7zkxenzho7gaxdvfxr7rqxe
Humanoids
[chapter]
2016
Springer Handbook of Robotics
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The ZMP can be used to plan walking patterns that make the robot dynamically stable while walking. ...
For example, Sony's humanoid robot QRIO is equipped with a field-programmable gate array (FPGA) to generate disparity maps in real time from the stereo cameras. ...
doi:10.1007/978-3-319-32552-1_67
fatcat:xgkavbgzmbae7mo4wjdrmivkdu
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