Top > JRM > Bipedal Locomotion Control Based on Simultaneous Trajectory an ...

single-rb.php

JRM Vol.28 No.4 pp. 533-542
doi: 10.20965/jrm.2016.p0533
(2016)

Paper:

Views over last 60 days: 1,546

Bipedal Locomotion Control Based on Simultaneous Trajectory and Foot Step Planning

Kouta Goto, Yuichi Tazaki, and Tatsuya Suzuki

Department of Mechanical Science and Engineering, Graduate School of Engineering, Nagoya University
Furo-cho, Chikusa-ku, Nagoya, Aichi 464-8603, Japan

Received:
July 3, 2015
Accepted:
May 12, 2016
Published:
August 20, 2016
Creative Commons License
Keywords:
biped locomotion control, trajectory planning, model predictive control
Abstract
This paper proposes a trajectory planner for bipedal locomotion that determines a center-of-mass (CoM) trajectory, footsteps, and step durations simultaneously. Trajectory planning based on a linear inverted pendulum model is formulated as a nonlinear constraint satisfaction problem. The proposed iterative constraint solving algorithm is able to solve this problem in a short amount of time so that trajectory replanning at every walking step is possible. Unlike existing planning methods that determine footsteps and a CoM trajectory sequentially under fixed walking period, the proposed planner can produce complex walking patterns that fully utilize the interdependency of these physical quantities. The proposed trajectory planner and a trajectory tracking controller is implemented on a real robot and their performance is evaluated.
Snapshots of a bipedal robot walking forward (upper figure) and walking sideways (lower figure)

Snapshots of a bipedal robot walking forward (upper figure) and walking sideways (lower figure)

Cite this article as:
K. Goto, Y. Tazaki, and T. Suzuki, “Bipedal Locomotion Control Based on Simultaneous Trajectory and Foot Step Planning,” J. Robot. Mechatron., Vol.28 No.4, pp. 533-542, 2016.
Data files:
References
  1. [1] J. Chestnutt and J. Kuffner, “A Tiered Planning Strategy for Biped Navigation,” IEEE-RAS Int. Conf. on Humanoid Robots, pp. 422-436, 2004.
  2. [2] J. Chestnutt, M. Lau, G. Cheung, J. Kuffner, J. Hodgins, and T. Kanade, “Footstep Planning for the Honda ASIMO Humanoid,” IEEE Int. Conf. on Robotics and Automation, pp. 629-634, 2005.
  3. [3] J. Chestnutt, K. Nishiwaki, J. Kuffner, and S. Kagami, “An Adaptive Action Model for Legged Navigation Planning,” IEEE-RAS Int. Conf. on Humanoid Robots, pp. 196-202, 2007.
  4. [4] L. Baudouin, N. Perrin, T. Moulard, F. Lamiraux, O. Stasse, and E. Yoshida, “Real-time, Replanning Using 3D Environment for Humanoid Robot,” IEEE-RAS Int. Conf. on Humanoid Robots, pp. 584-589, 2011.
  5. [5] J. Garimort and A. Hornung, “Humanoid Navigation with Dynamic Footstep Plans,” IEEE Int. Conf. on Robotics and Automation, pp. 3982-3987, 2011.
  6. [6] A. Hornung, A. Dornbush, M. Likhachev, and M. Bennewitz, “Anytime Search-Based Footstep Planning with Suboptimality Bounds,” IEEE-RAS Int. Conf. on Humanoid Robots, pp. 674-679, 2012.
  7. [7] R. Deits and R. Tedrake, “Footstep Planning on Uneven Terrain with Mixed-Integer Convex Optimization,” IEEE-RAS Int. Conf. on Humanoid Robots, 2014.
  8. [8] S. Kajita, F. Kanehiro, K. Kaneko, K. Fujiwara, K. Yokoi, and H. Hirukawa, “A Realtime Pattern Generator for Biped Walking,” IEEE Int. Conf. on Robotics and Automation, pp. 31-37, 2002.
  9. [9] S. Kajita?CF. Kanehiro?CK. Kaneko, K. Fujiwara, K. Harada, K. Yokoi, and H. Hirukawa, “Biped Walking Pattern Generation by using Preview Control of Zero-Moment Point,” IEEE Int. Conf. on Robotics and Automation, pp. 1620-1626, 2003.
  10. [10] K. Nishiwaki, S. Kagami, Y. Kuniyoshi, M. Inaba, and H. Inoue, “Online Generation of Humanoid Walking Motion based on a Fast Generation Method of Motion Pattern that Follows Desired ZMP,” IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 2684-2689, 2002.
  11. [11] K. Nishiwaki and S. Kagami, “Online Walking Control System for Humanoids with Short Cycle Pattern Generation,” Int. J. of Robotics Research, Vol.28, No.6, pp. 729-742, 2009.
  12. [12] P.-B. Wieber, “Trajectory Free Linear Model Predictive Control for Stable Walking in the Presence of Strong Perturbations,” IEEE-RAS Int. Conf. on Humanoid Robots, 2006.
  13. [13] H. Diedam, D. Dimitrov, P.-B. Wieber, K. Mombaur, and M. Diehl, “Online Walking Gait Generation with Adaptive Foot Positioning through Linear Model Predictive Control,” IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, 2008.
  14. [14] J. Liu, F. Xue, and X. Chen, “A Universal Biped Walking Generator for Complex Environments with Pattern Feasibility Checking,” Int. J. of Humanoid Robotics, Vol.8, No.2, pp. 323-357, 2011.
  15. [15] S. Feng, X. Xinjilefu, W. Huang, and C. G. Atkeson, “3D Walking Based on Online Optimization,” IEEE-RAS Int. Conf. on Humanoid Robots, 2013.
  16. [16] J. Englsberger, C. Ott, and A. Albu-Schäffer, “Three-dimensional Bipedal Walking Control Using Divergent Component of Motion,” IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 2600-2607, 2013.
  17. [17] S. Kuindersma, F. Permenter, and R. Tedrake, “An Efficiently Solvable Quadratic Program for Stabilizing Dynamic Locomotion,” IEEE Int. Conf. on Robotics and Automation, pp. 2589-2594, 2014.
  18. [18] A. Herdt, H. Diedam, P.-B. Wieber, D. Dimitrov, K. Mombaur, and M. Diehl, “Online Walking Motion Generation with Automatic Foot Step Placement,” Advanced Robotics, Vol.24, No.5-6, pp. 719-737, 2010.
  19. [19] S. Faraji, S. Pouya, and A. Ijspeert, “Robust and Agile 3D Biped Walking with Steering Capability Using a Footstep Predictive Approach,” Robotics Science and Systems, 2014.
  20. [20] N. Perrin, O. Stasse, L. Baudouin, F. Lamiraux, and E. Yoshida, “Fast Humanoid Robot Collision-Free Footstep Planning Using Swept Volume Approximations,” IEEE Trans. on Robotics, Vol.28, No.2, pp. 427-439, 2011.
  21. [21] S. Dalibard, A. El Khouryz, F. Lamiraux, M. Taix, and J. P. Laumond, “Small-space Controllability of a Walking Humanoid Robot,” IEEE-RAS Int. Conf. on Humanoid Robots, pp. 739-744, 2011.
  22. [22] H. Miura and I. Shimoyama, “Dynamic Walk of a Biped,” Int. J. of Robotics Research, Vol.3, No.2, pp. 60-74, 1984.
  23. [23] Y. Fujimoto and A. Kawamura, “Proposal of Biped Walking Control Based on Robust Hybrid Position/Force Control,” IEEE Int. Conf. on Robotics and Automation, pp. 2724-2730, 1996.
  24. [24] T. Sugihara, “Biped Control to Follow Arbitrary Referential Longitudinal Velocity Based on Dynamics Morphing,” IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 1892-1897, 2012.
  25. [25] Y. Tazaki and T. Suzuki, “Constraint-Based Prioritized Trajectory Planning for Multi-Body Systems,” IEEE Trans. on Robotics, Vol.30, No.5, pp. 1227-1234, 2014.

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

*This site is desgined based on HTML5 and CSS3 for modern browsers, e.g. Chrome, Firefox, Safari, Edge, Opera.

Last updated on Apr. 19, 2024