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Locomotion Control with Inverted Pendulum Model and Hierarchical Low-Dimensional Data

Ku-Hyun HAN, Byung-Ha PARK, Kwang-Mo JUNG, JungHyun HAN
2017 IEICE transactions on information and systems  
This paper presents an interactive locomotion controller using motion capture data and an inverted pendulum model (IPM).  ...  The locomotion controller allows the upper and lower bodies to be independently controlled and helps us generate natural locomotion. It can be used in various real-time applications such as games.  ...  Introduction We propose a real-time locomotion controller that can generate motions on an uneven surface along the direction provided by the user. Figure 1 shows how our system works.  ... 
doi:10.1587/transinf.2017edl8106 fatcat:aepfrbvqj5gzxku54kmemtqwba

2A2-O04 Development of dynamic balance based algorithms for stable locomotion of Russian anthropomorphic robot AR-601M

Ilya Shimchik, Evgeni Magid
2015 The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  
In this paper we present AR-601M robot, overview existing approaches for locomotion control of a biped robot, and present current state of our study.  ...  To successfully perform various tasks these robots require reliable locomotion control algorithms, which could guarantee dynamic balance of the robot at every moment.  ...  Modelling a robot for bipedal locomotion Commonly used approaches to approximate a biped robot are a model of inverted pendulum and a model of an inverted pendulum with a spring. 3D Inverted Pendulum or  ... 
doi:10.1299/jsmermd.2015._2a2-o04_1 fatcat:waluug6srjgvpe4wbeoo6icapa

Dynamic Balancing and Walking for Real-Time 3D Characters [chapter]

Ben Kenwright, Richard Davison, Graham Morgan
2011 Lecture Notes in Computer Science  
To achieve this we use an inverted pendulum as a basis for achieving a self-balancing model.  ...  Abstract. This paper describes the real-time modeling of 3D skeletal motion with balancing properties. Our goal is to mimic human responsiveness when external forces are applied to the model.  ...  This is the first time a real-time 3D model has made use of this technique.  ... 
doi:10.1007/978-3-642-25090-3_6 fatcat:q422ado2wvecdow2uhk4e7mkk4

Switching feedback controllers based on the maximal CPI sets for stabilization of humanoid robots

Ko Yamamoto, Yoshihiko Nakamura
2009 2009 9th IEEE-RAS International Conference on Humanoid Robots  
Although there are control methods to absorb the disturbances based on the COG-ZMP inverted pendulum model, they do not consider the physical constraint on ZMP.  ...  Furthermore, the switching control framework is applied to a COG-ZMP inverted pendulum model, allowing for an improved robustness to external disturbances.  ...  COG-ZMP INVERTED PENDULUM MODEL CONTROL A.  ... 
doi:10.1109/ichr.2009.5379518 dblp:conf/humanoids/YamamotoN09 fatcat:tnaoei2d5rervbllkqib6yo43m

Switching Feedback Controllers Based on the Maximal CPI Sets for Stabilization of Humanoid Robots
最大CPI集合に基づくスイッチングフィードバック制御によるヒューマノイドロボットの安定化

Ko Yamamoto, Yoshihiko Nakamura
2011 Journal of the Robotics Society of Japan  
Although there are control methods to absorb the disturbances based on the COG-ZMP inverted pendulum model, they do not consider the physical constraint on ZMP.  ...  Furthermore, the switching control framework is applied to a COG-ZMP inverted pendulum model, allowing for an improved robustness to external disturbances.  ...  COG-ZMP INVERTED PENDULUM MODEL CONTROL A.  ... 
doi:10.7210/jrsj.29.384 fatcat:r7ozhfwxrjacfgfvulrq2u44lu

Worm-level Control through Search-based Reinforcement Learning [article]

Mathias Lechner, Radu Grosu, Ramin M. Hasani
2017 arXiv   pre-print
neural parameters as a policy for controlling the inverted pendulum problem.  ...  Here, we propose an effective way to create control agents, by re-purposing the function of biological neural circuit models, to govern similar real world applications.  ...  Manipulating the model of the TW neural circuit for the inverted pendulum swingup problem We first introduce the neuron and synapse models we utilized to make an artificial TW neural circuit.  ... 
arXiv:1711.03467v1 fatcat:b72kzzu2fvclrlkwiubt7dmnh4

A template for the exploration of chaotic locomotive patterns

Max J. Kurz, Nicholas Stergiou, Jack Heidel, E. Terry Foster
2005 Chaos, Solitons & Fractals  
Abstract Inverted pendulum and spring-mass models have been successfully used to explore the dynamics of the lower extremity for animal and human locomotion.  ...  These results provide evidence that a passive dynamic double pendulum walking model can be used as a template for exploring the biomechanical control parameters responsible for chaos in human locomotion  ...  Acknowledgements We would like to thank Andy Ruina for his discussion and insights on passive dynamic walking models.  ... 
doi:10.1016/j.chaos.2004.04.034 fatcat:h4ynizr2vrdcthf6iogavpoeaa

Footstep navigation for dynamic crowds

Shawn Singh, Mubbasir Kapadia, Glenn Reinman, Petros Faloutsos
2011 Symposium on Interactive 3D Graphics and Games on - I3D '11  
Instead of an oriented particle with a single collision radius, we model a character's center of mass and footsteps using a 2D approximation of an inverted spherical pendulum model of bipedal locomotion  ...  We use this model to generate a timed sequence of footsteps that existing animation techniques can follow exactly.  ...  We define a 2D analytical approximation to the dynamics of an inverted spherical pendulum using parabolas.  ... 
doi:10.1145/1944745.1944783 dblp:conf/si3d/SinghKRF11 fatcat:mkxceazlcrdujjvhs6qdbltrum

Footstep navigation for dynamic crowds

Shawn Singh, Mubbasir Kapadia, Glenn Reinman, Petros Faloutsos
2011 Computer Animation and Virtual Worlds  
Instead of an oriented particle with a single collision radius, we model a character's center of mass and footsteps using a 2D approximation of an inverted spherical pendulum model of bipedal locomotion  ...  We use this model to generate a timed sequence of footsteps that existing animation techniques can follow exactly.  ...  We define a 2D analytical approximation to the dynamics of an inverted spherical pendulum using parabolas.  ... 
doi:10.1002/cav.403 fatcat:73aexxnwarfl5l7z4xl5yeguiu

A Modular Framework to Generate Robust Biped Locomotion: From Planning to Control [article]

Mohammadreza Kasaei, Ali Ahmadi, Nuno Lau, Artur Pereira
2021 arXiv   pre-print
This paper proposes a model-based framework to generate stable biped locomotion.  ...  Moreover, this dynamics model is used to formulate the controller as a Model Predictive Control (MPC) scheme which can consider some constraints in the states of the system, inputs, outputs and also mixed  ...  Fig. 1 1 Abstract Dynamics Models: (a) represents the Linear Inverted Pendulum Model (LIPM); (b) represents three-mass model.  ... 
arXiv:2002.06888v3 fatcat:5xazfhavfre3hkv4rzh54beoti

Balanced Walking with Capture Steps [chapter]

Marcell Missura, Sven Behnke
2015 Lecture Notes in Computer Science  
The robot not only manages to locomote on an even surface, but can also cope with various disturbances, such as pushes, collisions, and stepping on the feet of an opponent.  ...  In this contribution, we present an implementation of our Capture Step Framework on a real soccer robot, and show robust omnidirectional walking.  ...  The second building block, denoted "mx", is the model state. In every iteration, the model state is forwarded by one time frame using the laws of the linear inverted pendulum model.  ... 
doi:10.1007/978-3-319-18615-3_1 fatcat:xtsk4imrvbdrnj53xugamhwxmy

Minimally Actuated Walking: Identifying Core Challenges to Economical Legged Locomotion Reveals Novel Solutions

Ryan T Schroeder, John EA Bertram
2018 Frontiers in Robotics and AI  
This approach is used to discuss key facilitators of energetically efficient locomotion in simple bipedal walkers.  ...  As such, it is useful to investigate fundamental challenges that effective legged locomotion overcomes in order to understand why the mechanisms employed by biological systems provide viable solutions  ...  As such, we rely on reductionist abstractions of real mechanisms.  ... 
doi:10.3389/frobt.2018.00058 pmid:33644120 pmcid:PMC7904315 fatcat:oeocsxu3vfdbpgnzxp7uvtztdm

Neuronal Circuit Policies [article]

Mathias Lechner, Ramin M. Hasani, Radu Grosu
2018 arXiv   pre-print
We propose an effective way to create interpretable control agents, by re-purposing the function of a biological neural circuit model, to govern simulated and real world reinforcement learning (RL) test-beds  ...  For reconfiguration of the purpose of the TW neural circuit, we adopt a search-based RL algorithm.  ...  An example of such task is the inverted pendulum (Roboschool), where a positive reward is given all the time when the pendulum is still facing upwards.  ... 
arXiv:1803.08554v1 fatcat:2pp2hyqcnfhj3iueaosfusbgbm

Morphological self stabilization of locomotion gaits: illustration on a few examples from bio-inspired locomotion

Christine Chevallereau, Frédéric Boyer, Mathieu Porez, Johan Mauny, Yannick Aoustin
2017 Bioinspiration & Biomimetics  
self stabilization of locomotion gaits: illustration on a few examples from bio-inspired locomotion.  ...  the study of walking locomotion when an humanoid is approximated by an inverted pendulum with a lumped mass.  ...  With few exceptions, including control based on SLIP (Spring-Loaded Inverted Pendulum) model [4] , this idea, which is based on morphology, remains largely unexploited in popular humanoid controllers  ... 
doi:10.1088/1748-3190/aa728f pmid:28631623 fatcat:nt4ewlkoyjhgze6ql2xeqpjuwa

A modular framework to generate robust biped locomotion: from planning to control

Mohammadreza Kasaei, Ali Ahmadi, Nuno Lau, Artur Pereira
2021 SN Applied Sciences  
This paper proposes a model-based framework to generate stable biped locomotion.  ...  Moreover, this dynamics model is used to formulate the controller as a Model Predictive Control (MPC) scheme which can consider some constraints in the states of the system, inputs, outputs, and also mixed  ...  Acknowledgements This work is an extended version of our previous conference paper [14] , focusing on offering more details about the framework and validating its performance, robustness, and portability  ... 
doi:10.1007/s42452-021-04752-9 fatcat:rnrokpjzsvbdzea37ssdpp5jiy
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