Turning gait planning method for humanoid robots

Tianqi Yang; Weimin Zhang; Xuechao Chen; Zhangguo Yu; Libo Meng; Qiang Huang

doi:10.3390/app8081257

Turning gait planning method for humanoid robots

Tianqi Yang, Weimin Zhang^*, Xuechao Chen, Zhangguo Yu, Libo Meng, Qiang Huang

^*Corresponding author for this work

School of Mechatronical Engineering

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

10 Citations (Scopus)

Abstract

The most important feature of this paper is to transform the complex motion of robot turning into a simple translational motion, thus simplifying the dynamic model. Compared with the method that generates a center of mass (COM) trajectory directly by the inverted pendulum model, this method is more precise. The non-inertial reference is introduced in the turning walk. This method can translate the turning walk into a straight-line walk when the inertial forces act on the robot. The dynamics of the robot model, called linear inverted pendulum (LIP), are changed and improved dynamics are derived to make them apply to the turning walk model. Then, we expend the new LIP model and control the zero moment point (ZMP) to guarantee the stability of the unstable parts of this model in order to generate a stable COM trajectory. We present simulation results for the improved LIP dynamics and verify the stability of the robot turning.

Original language	English
Article number	1257
Journal	Applied Sciences (Switzerland)
Volume	8
Issue number	8
DOIs	https://doi.org/10.3390/app8081257
Publication status	Published - 30 Jul 2018

Keywords

Centrifugal force
Non-inertial reference frame
Trajectory planning
Turning model LIP

Access to Document

10.3390/app8081257

Cite this

@article{ec4d4c7664d64eb69b4f675559d592f7,

title = "Turning gait planning method for humanoid robots",

abstract = "The most important feature of this paper is to transform the complex motion of robot turning into a simple translational motion, thus simplifying the dynamic model. Compared with the method that generates a center of mass (COM) trajectory directly by the inverted pendulum model, this method is more precise. The non-inertial reference is introduced in the turning walk. This method can translate the turning walk into a straight-line walk when the inertial forces act on the robot. The dynamics of the robot model, called linear inverted pendulum (LIP), are changed and improved dynamics are derived to make them apply to the turning walk model. Then, we expend the new LIP model and control the zero moment point (ZMP) to guarantee the stability of the unstable parts of this model in order to generate a stable COM trajectory. We present simulation results for the improved LIP dynamics and verify the stability of the robot turning.",

keywords = "Centrifugal force, Non-inertial reference frame, Trajectory planning, Turning model LIP",

author = "Tianqi Yang and Weimin Zhang and Xuechao Chen and Zhangguo Yu and Libo Meng and Qiang Huang",

note = "Publisher Copyright: {\textcopyright} 2018 by the authors.",

year = "2018",

month = jul,

day = "30",

doi = "10.3390/app8081257",

language = "English",

volume = "8",

journal = "Applied Sciences (Switzerland)",

issn = "2076-3417",

publisher = "Multidisciplinary Digital Publishing Institute (MDPI)",

number = "8",

}

TY - JOUR

T1 - Turning gait planning method for humanoid robots

AU - Yang, Tianqi

AU - Zhang, Weimin

AU - Chen, Xuechao

AU - Yu, Zhangguo

AU - Meng, Libo

AU - Huang, Qiang

PY - 2018/7/30

Y1 - 2018/7/30

N2 - The most important feature of this paper is to transform the complex motion of robot turning into a simple translational motion, thus simplifying the dynamic model. Compared with the method that generates a center of mass (COM) trajectory directly by the inverted pendulum model, this method is more precise. The non-inertial reference is introduced in the turning walk. This method can translate the turning walk into a straight-line walk when the inertial forces act on the robot. The dynamics of the robot model, called linear inverted pendulum (LIP), are changed and improved dynamics are derived to make them apply to the turning walk model. Then, we expend the new LIP model and control the zero moment point (ZMP) to guarantee the stability of the unstable parts of this model in order to generate a stable COM trajectory. We present simulation results for the improved LIP dynamics and verify the stability of the robot turning.

AB - The most important feature of this paper is to transform the complex motion of robot turning into a simple translational motion, thus simplifying the dynamic model. Compared with the method that generates a center of mass (COM) trajectory directly by the inverted pendulum model, this method is more precise. The non-inertial reference is introduced in the turning walk. This method can translate the turning walk into a straight-line walk when the inertial forces act on the robot. The dynamics of the robot model, called linear inverted pendulum (LIP), are changed and improved dynamics are derived to make them apply to the turning walk model. Then, we expend the new LIP model and control the zero moment point (ZMP) to guarantee the stability of the unstable parts of this model in order to generate a stable COM trajectory. We present simulation results for the improved LIP dynamics and verify the stability of the robot turning.

KW - Centrifugal force

KW - Non-inertial reference frame

KW - Trajectory planning

KW - Turning model LIP

UR - http://www.scopus.com/inward/record.url?scp=85051069959&partnerID=8YFLogxK

U2 - 10.3390/app8081257

DO - 10.3390/app8081257

M3 - Article

AN - SCOPUS:85051069959

SN - 2076-3417

VL - 8

JO - Applied Sciences (Switzerland)

JF - Applied Sciences (Switzerland)

IS - 8

M1 - 1257

ER -

Turning gait planning method for humanoid robots

Abstract

Keywords

Access to Document

Other files and links

Fingerprint

Cite this