Realization of foot rotation by breaking the kinematic contact constraint

Xuechao Chen; Qiang Huang; Zhangguo Yu; Jing Li; Gan Ma; Libo Meng; Junyao Gao

doi:10.1017/S0263574714002057

Realization of foot rotation by breaking the kinematic contact constraint

Xuechao Chen^*, Qiang Huang, Zhangguo Yu, Jing Li, Gan Ma, Libo Meng, Junyao Gao

^*Corresponding author for this work

Research output: Contribution to journal › Article › peer-review

Abstract

Previous research has revealed that foot rotation of the supporting foot in a single support phase could increase walking speed. This paper presents a method for force-controlled bipeds to realize foot rotation by breaking the kinematic contact constraint between the supporting foot and the ground. An inverse dynamics controller is proposed to make the biped model controllable even when the constraint is broken. In addition, a linear inverted pendulum model is extended to make its ZMP adjustable so that the ZMP can be predefined as required. When the planned ZMP is in the toe, the kinematic contact constraint will be broken and foot rotation can be achieved. A walking simulation demonstrates the effectiveness of the proposed method.

Original language	English
Pages (from-to)	1059-1070
Number of pages	12
Journal	Robotica
Volume	34
Issue number	5
DOIs	https://doi.org/10.1017/S0263574714002057
Publication status	Published - 1 May 2016

Keywords

Biped robot
Foot rotation
Inverse dynamics
LIPM

Access to Document

10.1017/S0263574714002057

Cite this

@article{f538efd5bb3e42e8b31f26c14ab23f73,

title = "Realization of foot rotation by breaking the kinematic contact constraint",

abstract = "Previous research has revealed that foot rotation of the supporting foot in a single support phase could increase walking speed. This paper presents a method for force-controlled bipeds to realize foot rotation by breaking the kinematic contact constraint between the supporting foot and the ground. An inverse dynamics controller is proposed to make the biped model controllable even when the constraint is broken. In addition, a linear inverted pendulum model is extended to make its ZMP adjustable so that the ZMP can be predefined as required. When the planned ZMP is in the toe, the kinematic contact constraint will be broken and foot rotation can be achieved. A walking simulation demonstrates the effectiveness of the proposed method.",

keywords = "Biped robot, Foot rotation, Inverse dynamics, LIPM",

author = "Xuechao Chen and Qiang Huang and Zhangguo Yu and Jing Li and Gan Ma and Libo Meng and Junyao Gao",

note = "Publisher Copyright: {\textcopyright} Copyright Cambridge University Press 2014.",

year = "2016",

month = may,

day = "1",

doi = "10.1017/S0263574714002057",

language = "English",

volume = "34",

pages = "1059--1070",

journal = "Robotica",

issn = "0263-5747",

publisher = "Cambridge University Press",

number = "5",

}

TY - JOUR

T1 - Realization of foot rotation by breaking the kinematic contact constraint

AU - Chen, Xuechao

AU - Huang, Qiang

AU - Yu, Zhangguo

AU - Li, Jing

AU - Ma, Gan

AU - Meng, Libo

AU - Gao, Junyao

N1 - Publisher Copyright: © Copyright Cambridge University Press 2014.

PY - 2016/5/1

Y1 - 2016/5/1

N2 - Previous research has revealed that foot rotation of the supporting foot in a single support phase could increase walking speed. This paper presents a method for force-controlled bipeds to realize foot rotation by breaking the kinematic contact constraint between the supporting foot and the ground. An inverse dynamics controller is proposed to make the biped model controllable even when the constraint is broken. In addition, a linear inverted pendulum model is extended to make its ZMP adjustable so that the ZMP can be predefined as required. When the planned ZMP is in the toe, the kinematic contact constraint will be broken and foot rotation can be achieved. A walking simulation demonstrates the effectiveness of the proposed method.

AB - Previous research has revealed that foot rotation of the supporting foot in a single support phase could increase walking speed. This paper presents a method for force-controlled bipeds to realize foot rotation by breaking the kinematic contact constraint between the supporting foot and the ground. An inverse dynamics controller is proposed to make the biped model controllable even when the constraint is broken. In addition, a linear inverted pendulum model is extended to make its ZMP adjustable so that the ZMP can be predefined as required. When the planned ZMP is in the toe, the kinematic contact constraint will be broken and foot rotation can be achieved. A walking simulation demonstrates the effectiveness of the proposed method.

KW - Biped robot

KW - Foot rotation

KW - Inverse dynamics

KW - LIPM

UR - http://www.scopus.com/inward/record.url?scp=84904518954&partnerID=8YFLogxK

U2 - 10.1017/S0263574714002057

DO - 10.1017/S0263574714002057

M3 - Article

AN - SCOPUS:84904518954

SN - 0263-5747

VL - 34

SP - 1059

EP - 1070

JO - Robotica

JF - Robotica

IS - 5

ER -

Realization of foot rotation by breaking the kinematic contact constraint

Abstract

Keywords

Access to Document

Other files and links

Fingerprint

Cite this