Integration of vertical COM motion and angular momentum in an extended Capture Point tracking controller for bipedal walking

In this paper, we demonstrate methods for bipedal walking control based on the Capture Point (CP) methodology. In particular, we introduce a method to intuitively derive a CP reference trajectory from the next three steps and extend the linear inverted pendulum (LIP) based CP tracking controller introduced in [1], generalizing it to a model that contains vertical CoM motions and changes in angular momentum. Respecting the dynamics of general multibody systems, we propose a measurement-based compensation of multi-body effects, which leads to a stable closed-loop dynamics of bipedal walking robots. In addition we propose a ZMP projection method, which prevents the robots feet from tilting and ensures the best feasible CP tracking. The extended CP controller’s performance is validated in OpenHRP3 [2] simulations and compared to the controller proposed in [1]

Gait-Behavior Optimization Considering Arm Swing and Toe Mechanisms for Biped Robot on Rough Road

芝浦工業大学2019年

Climbing and Walking Robots

Nowadays robotics is one of the most dynamic fields of scientific researches. The shift of robotics researches from manufacturing to services applications is clear. During the last decades interest in studying climbing and walking robots has been increased. This increasing interest has been in many areas that most important ones of them are: mechanics, electronics, medical engineering, cybernetics, controls, and computers. Today’s climbing and walking robots are a combination of manipulative, perceptive, communicative, and cognitive abilities and they are capable of performing many tasks in industrial and non- industrial environments. Surveillance, planetary exploration, emergence rescue operations, reconnaissance, petrochemical applications, construction, entertainment, personal services, intervention in severe environments, transportation, medical and etc are some applications from a very diverse application fields of climbing and walking robots. By great progress in this area of robotics it is anticipated that next generation climbing and walking robots will enhance lives and will change the way the human works, thinks and makes decisions. This book presents the state of the art achievments, recent developments, applications and future challenges of climbing and walking robots. These are presented in 24 chapters by authors throughtot the world The book serves as a reference especially for the researchers who are interested in mobile robots. It also is useful for industrial engineers and graduate students in advanced study

Systematic Controller Design for Dynamic 3D Bipedal Robot Walking.

Virtual constraints and hybrid zero dynamics (HZD) have emerged as a powerful framework for controlling bipedal robot locomotion, as evidenced by the robust, energetically efficient, and natural-looking walking and running gaits achieved by planar robots such as Rabbit, ERNIE, and MABEL. However, the extension to 3D robots is more subtle, as the choice of virtual constraints has a deciding effect on the stability of a periodic orbit. Furthermore, previous methods did not provide a systematic means of designing virtual constraints to ensure stability. This thesis makes both experimental and theoretical contributions to the control of underactuated 3D bipedal robots. On the experimental side, we present the first realization of dynamic 3D walking using virtual constraints. The experimental success is achieved by augmenting a robust planar walking gait with a novel virtual constraint for the lateral swing hip angle. The resulting controller is tested in the laboratory on a human-scale bipedal robot (MARLO) and demonstrated to stabilize the lateral motion for unassisted 3D walking at approximately 1 m/s. MARLO is one of only two known robots to walk in 3D with stilt-like feet. On the theoretical side, we introduce a method to systematically tune a given choice of virtual constraints in order to stabilize a periodic orbit of a hybrid system. We demonstrate the method to stabilize a walking gait for MARLO, and show that the optimized controller leads to improved lateral control compared to the nominal virtual constraints. We also describe several extensions of the basic method, allowing the use of a restricted Poincaré map and the incorporation of disturbance rejection metrics in the optimization. Together, these methods comprise an important contribution to the theory of HZD.PhDElectrical Engineering: SystemsUniversity of Michigan, Horace H. Rackham School of Graduate Studieshttp://deepblue.lib.umich.edu/bitstream/2027.42/113370/1/bgbuss_1.pd

Feedback Control of a Bipedal Walker and Runner with Compliance.

This dissertation contributes to the theoretical foundations of robotic bipedal locomotion and advances the experimental state of the art as well. On the theoretical side, a mathematical formalism for designing provably stable, walking and running gaits in bipedal robots with compliance is presented. A key contribution is a novel method of force control in robots with compliance. The theoretical work is validated experimentally on MABEL, a planar bipedal testbed that contains springs in its drivetrain for the purpose of enhancing both energy efficiency and agility of dynamic locomotion. While the potential energetic benefits of springs are well documented in the literature, feedback control designs that effectively realize this potential are lacking. The methods of virtual constraints and hybrid zero dynamics, originally developed for rigid robots with a single degree of underactuation, are extended and applied to MABEL, which has a novel compliant transmission and multiple degrees of underactuation. A time-invariant feedback controller is designed such that the closed-loop system respects the natural compliance of the open-loop system and realizes exponentially stable walking gaits. A second time-invariant feedback controller is designed such that the closed-loop system not only respects the natural compliance of the open-loop system, but also enables active force control within the compliant hybrid zero dynamics and results in exponentially stable running gaits. Several experiments are presented that highlight different aspects of MABEL and the feedback design method, ranging from basic elements such as stable walking, robustness under perturbations, energy efficient walking to a bipedal robot walking speed record of 1.5 m/s (3.4 mph), stable running with passive feet and with point feet. On MABEL, the full hybrid zero dynamics controller is implemented and was instrumental in achieving rapid walking and running, leading upto a kneed bipedal running speed record of 3.06 m/s (6.8 mph).Ph.D.Electrical Engineering: SystemsUniversity of Michigan, Horace H. Rackham School of Graduate Studieshttp://deepblue.lib.umich.edu/bitstream/2027.42/89801/1/koushils_1.pd

Biped dynamic walking using reinforcement learning

This thesis presents a study of biped dynamic walking using reinforcement learning. A hardware biped robot was built. It uses low gear ratio DC motors in order to provide free leg movements. The Self Scaling Reinforcement learning algorithm was developed in order to deal with the problem of reinforcement learning in continuous action domains. A new learning architecture was designed to solve complex control problems. It uses different modules that consist of simple controllers and small neural networks. The architecture allows for easy incorporation of modules that represent new knowledge, or new requirements for the desired task. Control experiments were carried out using a simulator and the physical biped. The biped learned dynamic walking on flat surfaces without any previous knowledge about its dynamic model

Bio-Inspired Robotics

Modern robotic technologies have enabled robots to operate in a variety of unstructured and dynamically-changing environments, in addition to traditional structured environments. Robots have, thus, become an important element in our everyday lives. One key approach to develop such intelligent and autonomous robots is to draw inspiration from biological systems. Biological structure, mechanisms, and underlying principles have the potential to provide new ideas to support the improvement of conventional robotic designs and control. Such biological principles usually originate from animal or even plant models, for robots, which can sense, think, walk, swim, crawl, jump or even fly. Thus, it is believed that these bio-inspired methods are becoming increasingly important in the face of complex applications. Bio-inspired robotics is leading to the study of innovative structures and computing with sensory–motor coordination and learning to achieve intelligence, flexibility, stability, and adaptation for emergent robotic applications, such as manipulation, learning, and control. This Special Issue invites original papers of innovative ideas and concepts, new discoveries and improvements, and novel applications and business models relevant to the selected topics of ``Bio-Inspired Robotics''. Bio-Inspired Robotics is a broad topic and an ongoing expanding field. This Special Issue collates 30 papers that address some of the important challenges and opportunities in this broad and expanding field

Humanoid Robot Soccer Locomotion and Kick Dynamics: Open Loop Walking, Kicking and Morphing into Special Motions on the Nao Robot

Striker speed and accuracy in the RoboCup (SPL) international robot soccer league is becoming increasingly important as the level of play rises. Competition around the ball is now decided in a matter of seconds. Therefore, eliminating any wasted actions or motions is crucial when attempting to kick the ball. It is common to see a discontinuity between walking and kicking where a robot will return to an initial pose in preparation for the kick action. In this thesis we explore the removal of this behaviour by developing a transition gait that morphs the walk directly into the kick back swing pose. The solution presented here is targeted towards the use of the Aldebaran walk for the Nao robot. The solution we develop involves the design of a central pattern generator to allow for controlled steps with realtime accuracy, and a phase locked loop method to synchronise with the Aldebaran walk so that precise step length control can be activated when required. An open loop trajectory mapping approach is taken to the walk that is stabilized statically through the use of a phase varying joint holding torque technique. We also examine the basic princples of open loop walking, focussing on the commonly overlooked frontal plane motion. The act of kicking itself is explored both analytically and empirically, and solutions are provided that are versatile and powerful. Included as an appendix, the broader matter of striker behaviour (process of goal scoring) is reviewed and we present a velocity control algorithm that is very accurate and efficient in terms of speed of execution

人間を模擬した知覚系を持つ2足ヒューマノイドロボットの自己位置推定機能に対する歩行動作の影響に関する研究

早大学位記番号:新8279早稲田大