Observer Design for Estimating Support Force Applied by a Human Operator of a Biped Robot

Ryosuke Horio; Naoki Uchiyama; Shigenori Sano

doi:10.20965/jaciii.2017.p0744

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JACIII Vol.21 No.4 pp. 744-750

doi: 10.20965/jaciii.2017.p0744

(2017)

Paper:

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Observer Design for Estimating Support Force Applied by a Human Operator of a Biped Robot

Ryosuke Horio, Naoki Uchiyama, and Shigenori Sano

Department of Mechanical Engineering, Toyohashi University of Technology
1-1 Hibarigaoka, Tempaku, Toyohashi, Aichi 441-8580, Japan

Received:

December 30, 2016

Accepted:

March 17, 2017

Published:

July 20, 2017

Keywords:

biped robot, human-operated robot, object transportation task, stair-climbing, nonlinear observer

Abstract

The recognition of a robot operator’s intention/command is important in human-robot collaboration systems. This paper presents a novel approach to estimating the human operator’s force applied to a robotic system. In our previous study, we proposed a human-operated biped robot for transporting objects on rough terrain, steps or stairs. In this paper, we consider a new control system for the proposed robot, which enables the estimation of the support force applied by a human operator. The dynamics of the proposed robot are modeled by assuming that a support force applied by an operator is considered as a disturbance to each joint. The observer was designed to estimate the disturbance based on a high-gain observer; it was proven that the observer could estimate the disturbance with sufficient accuracy. Simulation results show that the observer successfully estimated the support force as a disturbance even though the disturbance property was completely unknown. In this study, the proposed biped robot system with the observer was expected to provide support to human operators for the cooperative transportation of objects up the stairs.

Cite this article as:

R. Horio, N. Uchiyama, and S. Sano, “Observer Design for Estimating Support Force Applied by a Human Operator of a Biped Robot,” J. Adv. Comput. Intell. Intell. Inform., Vol.21 No.4, pp. 744-750, 2017.

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References

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[2] A. Sano, S. Tamegai, K. Iwatsuki, N. Ota, Y. Ikemata, and H. Fujimoto, “Development of Multi-role Bipedal Walker Based on Human-assisted Passive Walking (1) : Legged Transport, Walk-assist, and WalkerTrial,” Proc. Robotics and Mechatronics Conf., JSME, 1A2-A12(2), 2010 (in Japanese).
[3] S. Nakajima and E. Nakano, “Adaptive Gait for Large Rough Terrain of a Leg-wheel Robot : 2nd Report, Gait for an Upward Step,” Trans. of the Japan Society of Mechanical Engineers C, Vol.72, No.721, pp. 2932-2939, 2006 (in Japanese).
[4] K. Hashimoto, Y. Sugahara, H. Lim, and A. Takanishi, “New Biped Foot System Adaptable to Uneven Terrain,” J. Robot. Mechatron., Vol.18, No.3, pp. 271-277, 2006.
[5] K. Hashimoto, Y. Sugahara, M. Kawase, A. Hayashi, C. Tanaka, A. Ohta et al., “Realization of Outdoor Human-carrying Biped Walking by Landing Pattern Modification Method,” The Robotics Society of Japan, Vol.25, No.6, pp. 851-859, 2007 (in Japanese)
[6] T. Takuma and K. Hosoda, “Terrain Negotiation of a Compliant Biped Robot Driven by Antagonistic Artificial Muscles,” J. Robot. Mechatron., Vol.19, No.4, pp. 423-428, 2007.
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[8] E. Ohashi, T. Sato, and K. Ohnishi, “A Walking Stabilization Method Based on Environmental Modes on Each Foot for Biped Robot,” IEEE Trans. on Industrial Electronics, Vol.56, No.10, pp. 3964-3974, 2009.
[9] K Hyodo, T. Oshimura, S. Mikami, and S. Suzuki, “Stabilizing Passive Dynamic Walk Under Wide Range of Environments by Constraint Mechanism Fitted to Sole of Foot,” J. Robot. Mechatron., Vol.21, No.3, pp. 403-411, 2009.
[10] K. Hyodo, S. Mikami, and S. Suzuki, “Outdoor Environments Walking by Biped Passive Dynamic Walker with Constraint Mechanism,” J. Robot. Mechatron., Vol.22, No.3, pp. 363-370, 2010.
[11] T. Yokomichi and N. Ushimi, “A Study of the Sole Mechanism of Biped Robots to Rough Terrain Locomotion,” J. Robot. Mechatron., Vol.24, No.5, pp. 902-907, 2012.
[12] T. Aoyama, K. Sekiyama, Y. Hasegawa, and T. Fukuda, “PDAC-Based 3-D Biped Walking Adapted to Rough Terrain Environment,” J. Robot. Mechatron., Vol.24, No.1, pp. 37-46, 2012.
[13] N. Motoi, K. Sasahara, and A. Kawamura, “Switching Control Method for Stable Landing by Legged Robot Based on Zero Moment Point,” J. Robot. Mechatron., Vol.25, No.5, pp. 831-839, 2013.
[14] S. Sano, M. Yamada, N. Uchiyama, and S. Takagi, “Point-contact type foot with springs and posture control for biped walking on rough terrain,” Proc. IEEE Workshop on Advanced Motion Control, pp. 480-485, 2008.
[15] M. Yamada, H. Maie, Y. Maeno, S. Sano, and N. Uchiyama, “Design of point-contact type foot with springs for biped robot,” Proc. IEEE/ASME Int. Conf. on Advanced Intelligent Mechatronics, pp. 806-811, 2010.
[16] X. Li, H. Imanishi, M. Minami, T. Matsuno, and A. Yanou, “Dynamical Model of Walking Transition Considering Nonlinear Friction with Floor,” J. Adv. Comput. Intell. Intell. Inform. (JACIII), Vol.20, No.6, pp. 974-982, 2016.
[17] M.-S. Kim, J.-H. Kim, M.-G. Choi, and J.-W. Kim, “A New Trajectory Generation Scheme for Direction Turning in Biped Walking,” J. Adv. Comput. Intell. Intell. Inform. (JACIII), Vol.14, No.5, pp. 550-554, 2010.
[18] N. Uchiyama, D. Kurita, and S. Sano, “Design and control of a human-operated biped robot for transportation of objects,” J. Robot. Mechatron., Vol.26, No.6, pp. 750-757, 2014.
[19] H. K. Khalil, “Nonlinear Systems Third Edition,” Prentice Hall, Inc., 2002.

This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1] Honda Motor Co., Ltd., http://www.honda.co.jp/carrier/products/hp350.html [accessed Dec. 29, 2016]

[2] [2] A. Sano, S. Tamegai, K. Iwatsuki, N. Ota, Y. Ikemata, and H. Fujimoto, “Development of Multi-role Bipedal Walker Based on Human-assisted Passive Walking (1) : Legged Transport, Walk-assist, and WalkerTrial,” Proc. Robotics and Mechatronics Conf., JSME, 1A2-A12(2), 2010 (in Japanese).

[3] [3] S. Nakajima and E. Nakano, “Adaptive Gait for Large Rough Terrain of a Leg-wheel Robot : 2nd Report, Gait for an Upward Step,” Trans. of the Japan Society of Mechanical Engineers C, Vol.72, No.721, pp. 2932-2939, 2006 (in Japanese).

[4] [4] K. Hashimoto, Y. Sugahara, H. Lim, and A. Takanishi, “New Biped Foot System Adaptable to Uneven Terrain,” J. Robot. Mechatron., Vol.18, No.3, pp. 271-277, 2006.

[5] [5] K. Hashimoto, Y. Sugahara, M. Kawase, A. Hayashi, C. Tanaka, A. Ohta et al., “Realization of Outdoor Human-carrying Biped Walking by Landing Pattern Modification Method,” The Robotics Society of Japan, Vol.25, No.6, pp. 851-859, 2007 (in Japanese)

[6] [6] T. Takuma and K. Hosoda, “Terrain Negotiation of a Compliant Biped Robot Driven by Antagonistic Artificial Muscles,” J. Robot. Mechatron., Vol.19, No.4, pp. 423-428, 2007.

[7] [7] K. Harada, M. Morisawa, S. Nakaoka, K. Kaneko, and S. Kajita, “Kinodynamic Planning for Humanoid Robots Walking on Uneven Terrain,” J. Robot. Mechatron., Vol.21, No.3, pp. 311-316, 2009.

[8] [8] E. Ohashi, T. Sato, and K. Ohnishi, “A Walking Stabilization Method Based on Environmental Modes on Each Foot for Biped Robot,” IEEE Trans. on Industrial Electronics, Vol.56, No.10, pp. 3964-3974, 2009.

[9] [9] K Hyodo, T. Oshimura, S. Mikami, and S. Suzuki, “Stabilizing Passive Dynamic Walk Under Wide Range of Environments by Constraint Mechanism Fitted to Sole of Foot,” J. Robot. Mechatron., Vol.21, No.3, pp. 403-411, 2009.

[10] [10] K. Hyodo, S. Mikami, and S. Suzuki, “Outdoor Environments Walking by Biped Passive Dynamic Walker with Constraint Mechanism,” J. Robot. Mechatron., Vol.22, No.3, pp. 363-370, 2010.

[11] [11] T. Yokomichi and N. Ushimi, “A Study of the Sole Mechanism of Biped Robots to Rough Terrain Locomotion,” J. Robot. Mechatron., Vol.24, No.5, pp. 902-907, 2012.

[12] [12] T. Aoyama, K. Sekiyama, Y. Hasegawa, and T. Fukuda, “PDAC-Based 3-D Biped Walking Adapted to Rough Terrain Environment,” J. Robot. Mechatron., Vol.24, No.1, pp. 37-46, 2012.

[13] [13] N. Motoi, K. Sasahara, and A. Kawamura, “Switching Control Method for Stable Landing by Legged Robot Based on Zero Moment Point,” J. Robot. Mechatron., Vol.25, No.5, pp. 831-839, 2013.

[14] [14] S. Sano, M. Yamada, N. Uchiyama, and S. Takagi, “Point-contact type foot with springs and posture control for biped walking on rough terrain,” Proc. IEEE Workshop on Advanced Motion Control, pp. 480-485, 2008.

[15] [15] M. Yamada, H. Maie, Y. Maeno, S. Sano, and N. Uchiyama, “Design of point-contact type foot with springs for biped robot,” Proc. IEEE/ASME Int. Conf. on Advanced Intelligent Mechatronics, pp. 806-811, 2010.

[16] [16] X. Li, H. Imanishi, M. Minami, T. Matsuno, and A. Yanou, “Dynamical Model of Walking Transition Considering Nonlinear Friction with Floor,” J. Adv. Comput. Intell. Intell. Inform. (JACIII), Vol.20, No.6, pp. 974-982, 2016.

[17] [17] M.-S. Kim, J.-H. Kim, M.-G. Choi, and J.-W. Kim, “A New Trajectory Generation Scheme for Direction Turning in Biped Walking,” J. Adv. Comput. Intell. Intell. Inform. (JACIII), Vol.14, No.5, pp. 550-554, 2010.

[18] [18] N. Uchiyama, D. Kurita, and S. Sano, “Design and control of a human-operated biped robot for transportation of objects,” J. Robot. Mechatron., Vol.26, No.6, pp. 750-757, 2014.

[19] [19] H. K. Khalil, “Nonlinear Systems Third Edition,” Prentice Hall, Inc., 2002.