Cylindrical Inverted Pendulum Model for Three Dimensional Bipedal Walking

Runming Zhang; Huaxin Liu; Fei Meng; Aiguo Ming; Qiang Huang

doi:10.1109/HUMANOIDS.2018.8624984

Cylindrical Inverted Pendulum Model for Three Dimensional Bipedal Walking

Runming Zhang^*
, Huaxin Liu
, Fei Meng
, Aiguo Ming
, Qiang Huang

^*Corresponding author for this work

Beijing Institute of Technology
The University of Electro-Communications

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

3 Citations (Scopus)

Abstract

Energy efficiency of biped walking is an crucial topic for humanoid robot's research. Rapid computing is also important for online planning and model transplantation. Many dynamic models for characterizing humanoids' walking have been developed, such as conventional 3 dimensional inverted pendulum (IPM), linear inverted pendulum (LIPM). This paper proposed an improved inverted pendulum model constrained on cylindrical surface (CIPM), combining the advantages of computing and energy efficiency for humanoids' walking planning. Walking patterns with different speeds can be generated by CIPM. The constraint of cylindrical surface results in low coupling between displacement variables for tested robot and the energy consumption is less than that generated based on LIPM. The advantages of CIPM over IPM and LIPM were proved by mathematic analysis, simulations of bipedal walking with different speeds.

Original language	English
Title of host publication	2018 IEEE-RAS 18th International Conference on Humanoid Robots, Humanoids 2018
Publisher	IEEE Computer Society
Pages	1010-1016
Number of pages	7
ISBN (Electronic)	9781538672839
DOIs	https://doi.org/10.1109/HUMANOIDS.2018.8624984
Publication status	Published - 2 Jul 2018
Externally published	Yes
Event	18th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2018 - Beijing, China Duration: 6 Nov 2018 → 9 Nov 2018

Publication series

Name	IEEE-RAS International Conference on Humanoid Robots
Volume	2018-November
ISSN (Print)	2164-0572
ISSN (Electronic)	2164-0580

Conference

Conference	18th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2018
Country/Territory	China
City	Beijing
Period	6/11/18 → 9/11/18

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 7 Affordable and Clean Energy

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10.1109/HUMANOIDS.2018.8624984

Cite this

Zhang, R., Liu, H., Meng, F., Ming, A., & Huang, Q. (2018). Cylindrical Inverted Pendulum Model for Three Dimensional Bipedal Walking. In 2018 IEEE-RAS 18th International Conference on Humanoid Robots, Humanoids 2018 (pp. 1010-1016). Article 8624984 (IEEE-RAS International Conference on Humanoid Robots; Vol. 2018-November). IEEE Computer Society. https://doi.org/10.1109/HUMANOIDS.2018.8624984

@inproceedings{1cdd9c3d31fc47aa9ba0b055871e50c7,

title = "Cylindrical Inverted Pendulum Model for Three Dimensional Bipedal Walking",

abstract = "Energy efficiency of biped walking is an crucial topic for humanoid robot's research. Rapid computing is also important for online planning and model transplantation. Many dynamic models for characterizing humanoids' walking have been developed, such as conventional 3 dimensional inverted pendulum (IPM), linear inverted pendulum (LIPM). This paper proposed an improved inverted pendulum model constrained on cylindrical surface (CIPM), combining the advantages of computing and energy efficiency for humanoids' walking planning. Walking patterns with different speeds can be generated by CIPM. The constraint of cylindrical surface results in low coupling between displacement variables for tested robot and the energy consumption is less than that generated based on LIPM. The advantages of CIPM over IPM and LIPM were proved by mathematic analysis, simulations of bipedal walking with different speeds.",

author = "Runming Zhang and Huaxin Liu and Fei Meng and Aiguo Ming and Qiang Huang",

note = "Publisher Copyright: {\textcopyright} 2018 IEEE.; 18th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2018 ; Conference date: 06-11-2018 Through 09-11-2018",

year = "2018",

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doi = "10.1109/HUMANOIDS.2018.8624984",

language = "English",

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Zhang, R, Liu, H, Meng, F, Ming, A & Huang, Q 2018, Cylindrical Inverted Pendulum Model for Three Dimensional Bipedal Walking. in 2018 IEEE-RAS 18th International Conference on Humanoid Robots, Humanoids 2018., 8624984, IEEE-RAS International Conference on Humanoid Robots, vol. 2018-November, IEEE Computer Society, pp. 1010-1016, 18th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2018, Beijing, China, 6/11/18. https://doi.org/10.1109/HUMANOIDS.2018.8624984

Cylindrical Inverted Pendulum Model for Three Dimensional Bipedal Walking. / Zhang, Runming; Liu, Huaxin; Meng, Fei et al.
2018 IEEE-RAS 18th International Conference on Humanoid Robots, Humanoids 2018. IEEE Computer Society, 2018. p. 1010-1016 8624984 (IEEE-RAS International Conference on Humanoid Robots; Vol. 2018-November).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Cylindrical Inverted Pendulum Model for Three Dimensional Bipedal Walking

AU - Zhang, Runming

AU - Liu, Huaxin

AU - Meng, Fei

AU - Ming, Aiguo

AU - Huang, Qiang

PY - 2018/7/2

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N2 - Energy efficiency of biped walking is an crucial topic for humanoid robot's research. Rapid computing is also important for online planning and model transplantation. Many dynamic models for characterizing humanoids' walking have been developed, such as conventional 3 dimensional inverted pendulum (IPM), linear inverted pendulum (LIPM). This paper proposed an improved inverted pendulum model constrained on cylindrical surface (CIPM), combining the advantages of computing and energy efficiency for humanoids' walking planning. Walking patterns with different speeds can be generated by CIPM. The constraint of cylindrical surface results in low coupling between displacement variables for tested robot and the energy consumption is less than that generated based on LIPM. The advantages of CIPM over IPM and LIPM were proved by mathematic analysis, simulations of bipedal walking with different speeds.

AB - Energy efficiency of biped walking is an crucial topic for humanoid robot's research. Rapid computing is also important for online planning and model transplantation. Many dynamic models for characterizing humanoids' walking have been developed, such as conventional 3 dimensional inverted pendulum (IPM), linear inverted pendulum (LIPM). This paper proposed an improved inverted pendulum model constrained on cylindrical surface (CIPM), combining the advantages of computing and energy efficiency for humanoids' walking planning. Walking patterns with different speeds can be generated by CIPM. The constraint of cylindrical surface results in low coupling between displacement variables for tested robot and the energy consumption is less than that generated based on LIPM. The advantages of CIPM over IPM and LIPM were proved by mathematic analysis, simulations of bipedal walking with different speeds.

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M3 - Conference contribution

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Cylindrical Inverted Pendulum Model for Three Dimensional Bipedal Walking

Abstract

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