Abstract
This paper is focused on improvement of the humanoid robot walking by conducting dynamic walking experiments, based on human pattern gait parameters. The proposed approach has been tested and implemented to the Bioloid robot, firmly by simulating the robot on the Matlab program. Humanoid interaction considers that the robot starts and finishes the walk with the Double Support Feet (DSF). In this paper is presented the kinematic model of the Bioloid robot based on Denavit-Hartenberg (D-H) convention. To imitate the human walking, a three dimensions trajectory of the feet and the hip has been developed. For the design of the trajectories, first motion constraints during walking have been derived based on the human walking pattern. The sinusoidal spline interpolation is used to find the smooth trajectories for the foot and the hip in both single and double support phases are implemented on the Bioloid robot. In order to realize the humanoid walking in the sense of static stability, the robot’s centre of gravity during the walking was located within the support foot area. After tests with different step lengths and step heights, we are able to analyse the end-effector of each walking parameter before implementation into the real humanoid robot.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Bajrami, X., Kopacek, P., Shala, A., Likaj, R.: Modelling and control of a humanoid robot. e & i Elektrotechnik und Informationstechnik 130(2), 61–66 (2013)
Kajita, S., et al.: Humanoid walking pattern generation by using preview control of zero-moment point. In: Proceedings IEEE Conference on Robotics & Automation, Taipei, Taiwan, 14–19 September, pp. 1620–1626 (2003)
Hyon, S.H., Suewaka, D., Torii, Y., Oku, N.: Design and experimental evaluation of a fast torque-controlled hydraulic humanoid robot. IEEE/ASME Trans. Mechatron. 22(2), 623–634 (2017)
Bajrami, X.: Dynamic modelling and simulation of a humanoid robot. Ph.D. thesis. Vienna University of Technology, Austria (2013)
Shahverdi, P., Masouleh, M.T.: A simple and fast geometric kinematic solution for imitation of human arms by a NAO humanoid robot. In: 2016 4th International Conference on Robotics and Mechatronics (ICROM), Tehran, pp. 572–577 (2016)
Goldbeck, C., Kaul, L., Vahrenkamp, N., Worgotter, F., Asfour, T., Braun, J.M.: Two ways of walking: contrasting a reflexive neuro-controller and a LIP-based ZMP-controller on the humanoid robot ARMAR-4. In: 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids), Cancun, pp. 966–972 (2016)
Bajrami, X., et al.: Trajectory planning and inverse kinematics solver for real biped robot with 10 DOF-s. IFAC Pap. Line 49(29), 88–93 (2016)
Kopacek, P.: Cost oriented humanoid robot. In: Proceedings of the 18th IFAC World Congress, Milano, Italy, 28 August–2 September 2011 (2011)
Bajrami, X., et al.: Kinematics and dynamics modelling of the biped robot. IFAC Proc. Vol. 46(8), 69–73 (2013)
Mu, X., Wu, Q.: Synthesis of a complete sagittal gait cycle for a five-link biped robot. Robotica 21, 581–587 (2004)
Bajrami, X., et al.: Genetic and Fuzzy Logic algorithms for robot pathfinding. In: 2016 5th Mediterranean Conference on Embedded Computing (MECO), pp. 195–199. IEEE (2016)
Raibert, M.H.: Legged Robots that Balance. MIT Press, Cambridge (1986). IEEE International Conference on Robotics and Automation, April 2005
Kajita, S., Nagasaki, T., Kaneko, K., Yokoi, K., Tanie, K.: A running controller of humanoid biped HRP-2L. In: Proceedings of IEEE International Conference on Robotics and Automation (ICRA) 2005
Pajaziti, A., Gojani, I., Shala, A., Pira, B.: Planning walking patterns for a biped robot using fuzzy logic controller. In: IARP Workshop on Robots for Humanitarian Demining, HUDEM 2004, Brussels-Leuven, Belgium, June 2004
Kajita, S., Kanehiro, F., Kaneko, K., Fujiwara, K., Harada, K., Yokoi, K., Hirukawa, H.: Resolved momentum control: humanoid motion planning based on the linear and angular momentum. In: Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS) (2003)
Nunez, V., Yokoi, K., Nadjar Gauthier, N., Blazevic, P., Stasse, O.: Whole body posture controller with stable motion planning. Submitted to IEEE International Conference on Humanoid Robots (Humanoids) (2006)
Hayashi, R., Tsujio, S.: High-performance jumping movements by pendulum-type jumping machines. In: IEEE International Conference on Intelligent Robots and Systems (IROS) (2001)
Tiong, Y.K., Romyaldy: Conceptual framework for designing humanoid locomotion control system. In: Proceedings of IEEE International Conference on Robotics, Automation and Mechatronics (RAM) (2004)
Sugihara, T., Nakamura, Y.: Contact phase invariant control for humanoid robot based on variable impedance inverted pendulum model. In: Proceedings of IEEE International Conference on Robotics and Automation (ICRA) (2003)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2019 Springer Nature Switzerland AG
About this paper
Cite this paper
Pajaziti, A., Bajrami, X., Shala, A., Likaj, R. (2019). Dynamic Walking Experiments for Humanoid Robot. In: Arai, K., Kapoor, S., Bhatia, R. (eds) Intelligent Systems and Applications. IntelliSys 2018. Advances in Intelligent Systems and Computing, vol 868. Springer, Cham. https://doi.org/10.1007/978-3-030-01054-6_60
Download citation
DOI: https://doi.org/10.1007/978-3-030-01054-6_60
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-01053-9
Online ISBN: 978-3-030-01054-6
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)