Straight leg walking strategy for torque-controlled humanoid robots
Most humanoid robots walk in an unhuman-like way with bent knees due to the use of the simplified Linear Inverted Pendulum Model (LIPM) which constrains the Center of Mass (CoM) in a horizontal plane. Therefore it results in high knee joint torque and extra energy consumption. To address this issue,...
Saved in:
Published in | 2016 IEEE International Conference on Robotics and Biomimetics (ROBIO) pp. 2014 - 2019 |
---|---|
Main Authors | , , , |
Format | Conference Proceeding |
Language | English |
Published |
IEEE
01.12.2016
|
Subjects | |
Online Access | Get full text |
Cover
Loading…
Abstract | Most humanoid robots walk in an unhuman-like way with bent knees due to the use of the simplified Linear Inverted Pendulum Model (LIPM) which constrains the Center of Mass (CoM) in a horizontal plane. Therefore it results in high knee joint torque and extra energy consumption. To address this issue, we propose a simple yet efficient control strategy to realize straight leg walking. First, theoretical analyses of simplified models provide insight into Zero Moment Point (ZMP) deviations during straight knee walking. Based on the finding that the deviation is limited comparing to the support polygon, we decide to keep using the LIPM for high-level planning, but let the robot perform straight leg walking automatically via the optimization-based low-level controller. By setting the desired CoM height slightly over the robot's reachable height, the low-level controller will attempt to straighten the robot's leg to reach this vertical reference, in the meanwhile, also satisfy the constraints (i.e. dynamic feasibility, friction cone, torque limits). The simulation results of the humanoid robot WALK-MAN demonstrate the feasibility of proposed control strategy with relatively high energy efficiency. A typical butterfly shape of CoM trajectory was also observed in the frontal plane which is common in human walking. |
---|---|
AbstractList | Most humanoid robots walk in an unhuman-like way with bent knees due to the use of the simplified Linear Inverted Pendulum Model (LIPM) which constrains the Center of Mass (CoM) in a horizontal plane. Therefore it results in high knee joint torque and extra energy consumption. To address this issue, we propose a simple yet efficient control strategy to realize straight leg walking. First, theoretical analyses of simplified models provide insight into Zero Moment Point (ZMP) deviations during straight knee walking. Based on the finding that the deviation is limited comparing to the support polygon, we decide to keep using the LIPM for high-level planning, but let the robot perform straight leg walking automatically via the optimization-based low-level controller. By setting the desired CoM height slightly over the robot's reachable height, the low-level controller will attempt to straighten the robot's leg to reach this vertical reference, in the meanwhile, also satisfy the constraints (i.e. dynamic feasibility, friction cone, torque limits). The simulation results of the humanoid robot WALK-MAN demonstrate the feasibility of proposed control strategy with relatively high energy efficiency. A typical butterfly shape of CoM trajectory was also observed in the frontal plane which is common in human walking. |
Author | Songyan Xin Yangwei You Tsagarakis, Nikos Chengxu Zhou |
Author_xml | – sequence: 1 surname: Yangwei You fullname: Yangwei You email: Yangwei.You@iit.it organization: Dept. of Adv. Robot., Ist. Italiano di Tecnol., Genoa, Italy – sequence: 2 surname: Songyan Xin fullname: Songyan Xin email: Songyan.Xin@iit.it organization: Dept. of Adv. Robot., Ist. Italiano di Tecnol., Genoa, Italy – sequence: 3 surname: Chengxu Zhou fullname: Chengxu Zhou email: Chengxu.Zhou@iit.it organization: Dept. of Adv. Robot., Ist. Italiano di Tecnol., Genoa, Italy – sequence: 4 givenname: Nikos surname: Tsagarakis fullname: Tsagarakis, Nikos email: Nikos.Tsagarakis@iit.it organization: Dept. of Adv. Robot., Ist. Italiano di Tecnol., Genoa, Italy |
BookMark | eNotj8tKAzEARSPowlZ_QDf5gRnzzmSpg49CYcDHuuQ102CaaCZF-vcW2tWFw-HAXYDLlJMH4A6jFmOkHt6Hp9XQEoRFKzshBOEXYIE5UohRwdA16D9q0WHaVhj9BP90_A5pgvMRVj8d4JgLrLn87n1jc6olx-gd3O53OuXgYMkm1_kGXI06zv72vEvw9fL82b816-F11T-um4Ap4w21mDjtBDbGUkcdYshJ7XgnR467bpQKKaKYPXqKEkENsURiqjSzlhsl6BLcn7rBe7_5KWGny2Fz_kX_AfqqR5Y |
ContentType | Conference Proceeding |
DBID | 6IE 6IL CBEJK RIE RIL |
DOI | 10.1109/ROBIO.2016.7866625 |
DatabaseName | IEEE Electronic Library (IEL) Conference Proceedings IEEE Proceedings Order Plan All Online (POP All Online) 1998-present by volume IEEE Xplore All Conference Proceedings IEEE/IET Electronic Library IEEE Proceedings Order Plans (POP All) 1998-Present |
DatabaseTitleList | |
Database_xml | – sequence: 1 dbid: RIE name: IEEE Xplore url: https://proxy.k.utb.cz/login?url=https://ieeexplore.ieee.org/ sourceTypes: Publisher |
DeliveryMethod | fulltext_linktorsrc |
EISBN | 1509043640 9781509043644 |
EndPage | 2019 |
ExternalDocumentID | 7866625 |
Genre | orig-research |
GroupedDBID | 6IE 6IL CBEJK RIE RIL |
ID | FETCH-LOGICAL-i1345-3c12dad61bbc3d3d040d7ad587f5188f7909294c3c193263b2c27139a4cc5b963 |
IEDL.DBID | RIE |
IngestDate | Thu Jun 29 18:37:46 EDT 2023 |
IsDoiOpenAccess | false |
IsOpenAccess | true |
IsPeerReviewed | false |
IsScholarly | false |
Language | English |
LinkModel | DirectLink |
MergedId | FETCHMERGED-LOGICAL-i1345-3c12dad61bbc3d3d040d7ad587f5188f7909294c3c193263b2c27139a4cc5b963 |
OpenAccessLink | http://eprints.whiterose.ac.uk/144476/1/You%202016%20IEEE%20Straight%20Leg%20Walking%20Strategy.pdf |
PageCount | 6 |
ParticipantIDs | ieee_primary_7866625 |
PublicationCentury | 2000 |
PublicationDate | 2016-Dec. |
PublicationDateYYYYMMDD | 2016-12-01 |
PublicationDate_xml | – month: 12 year: 2016 text: 2016-Dec. |
PublicationDecade | 2010 |
PublicationTitle | 2016 IEEE International Conference on Robotics and Biomimetics (ROBIO) |
PublicationTitleAbbrev | ROBIO |
PublicationYear | 2016 |
Publisher | IEEE |
Publisher_xml | – name: IEEE |
Score | 1.7389153 |
Snippet | Most humanoid robots walk in an unhuman-like way with bent knees due to the use of the simplified Linear Inverted Pendulum Model (LIPM) which constrains the... |
SourceID | ieee |
SourceType | Publisher |
StartPage | 2014 |
SubjectTerms | Dynamics Humanoid robots Knee Legged locomotion Torque Trajectory |
Title | Straight leg walking strategy for torque-controlled humanoid robots |
URI | https://ieeexplore.ieee.org/document/7866625 |
hasFullText | 1 |
inHoldings | 1 |
isFullTextHit | |
isPrint | |
link | http://utb.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwjV1LS8NAEF7anjyptOKbPXh00zx2s8nVYqlCrYiF3so-JlIsjbQJor_e2SStKB68LWFhkx0m883uN98QcmV5xEUKhmUyBsalCFiCP0vmS2MSpYSWVR-y8UM8mvL7mZi1yPWuFgYAKvIZeG5Y3eXb3JTuqKwvEwTboWiTduKHda3Wtg7GT_tPk5u7iSNrxV4z8UfHlCpgDPfJeLtUzRN59cpCe-bzlwrjf9_lgPS-S_Po4y7oHJIWrLpk4DRmXZZNl_BC39XSnX_TTS08-0ERl1JMrTECsIaZvgRLq-58-cLSda7zYtMj0-Ht82DEmu4IbBHg_rLIBKFVNg60NpGNLHqjlcqKRGZOZC2TqY_Qhxuc5zBapEMTYkaaKm6M0Oh3R6SzyldwTChobkGhnXyZcWuF8jkgkEJsE2acq-SEdN0GzN9qAYx58-2nfz8-I3vOCDXn45x0inUJFxi5C31ZmewL_7Oa7g |
link.rule.ids | 310,311,786,790,795,796,802,27956,55107 |
linkProvider | IEEE |
linkToHtml | http://utb.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwjV3LSsNAFB1qXehKpRXfzsKlk-Yxk0m2FkurfYi00F2ZV6QYGmlTRL_eO0laUVy4C2FgkjtMzrmTc89F6EbTgLLYKJLw0BDKmUci-FgSlysVCcEkL_qQDYZhd0IfpmxaQ7fbWhhjTCE-M469LP7l60yt7VFZi0dAtn22g3YB511eVmttKmHcuPU8uuuNrFwrdKqhP3qmFJDROUCDzWSlUuTVWefSUZ-_fBj_-zSHqPldnIeftrBzhGpm0UBt6zJr82ycmhf8LlJ7Ao5XpfXsBwZmiiG5BgwglTY9NRoX_fmyucbLTGb5qokmnftxu0uq_ghk7kGESaA8XwsdelKqQAca9qPmQrOIJ9ZmLeGxC-SHKhhnWVogfeVDThoLqhSTsPOOUX2RLcwJwkZSbQS3UU2o1ky41ACVAnbjJ5SK6BQ1bABmb6UFxqx697O_b1-jve540J_1e8PHc7RvF6RUgFyger5cm0vA8VxeFcv3BVkbnkI |
openUrl | ctx_ver=Z39.88-2004&ctx_enc=info%3Aofi%2Fenc%3AUTF-8&rfr_id=info%3Asid%2Fsummon.serialssolutions.com&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Abook&rft.genre=proceeding&rft.title=2016+IEEE+International+Conference+on+Robotics+and+Biomimetics+%28ROBIO%29&rft.atitle=Straight+leg+walking+strategy+for+torque-controlled+humanoid+robots&rft.au=Yangwei+You&rft.au=Songyan+Xin&rft.au=Chengxu+Zhou&rft.au=Tsagarakis%2C+Nikos&rft.date=2016-12-01&rft.pub=IEEE&rft.spage=2014&rft.epage=2019&rft_id=info:doi/10.1109%2FROBIO.2016.7866625&rft.externalDocID=7866625 |