Abstract
To enhance the robustness in tolerance for ZMP design imperfection and for uncertain external disturbances in online biped gait generation, a modified preview control strategy with angle coefficient adjustment is presented. First, an offline walking pattern generator based on ZMP stability criterion and an online one using ZMP preview control with an observer integrated are built. Then the concept of angle coefficient is proposed and the method for angle coefficient real-time adjustment is presented. To evaluate the effectiveness of proposed method, simulation experiments are conducted with a 10 DOFs prototype. The results show that, using the proposed method, the robot prototype is capable of reducing the center of mass (COM) trajectory tracking error; the robot prototype is capable of reducing walking yaw in spite of ZMP design imperfection and modeling error; the robot prototype is capable of walking stably through uneven path surfaces.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
Similar content being viewed by others
References
Hirai, K., Hirose, M., Haikawa, Y., Takenaka, T.: Development of Honda humanoid robot. In: Proceedings of the IEEE International Conference on Robotics and Automation, vol. 2, pp. 1321–1326 (1998)
Hirukawa, H., et al.: Humanoid robotics platforms developed in HRP. Rob. Auton. Syst. 48, 165–175 (2004)
Kim, J.Y., Park, I.W., Oh, J.H.: Experimental realization of dynamic walking of the biped humanoid robot KHR-2 using zero moment point feedback and inertial measurement 20, 707–736 (2006)
Vukobratovic, M., Stepanenko, J.: On the Stability of anthropomorphic systems. Math. Biosci. 15, 1–37 (1972)
Mitobe, K., Capi, G., Nasu, Y.: A new control for walking robots based on angular momentum. Mechatronics 14, 163–174 (2004)
Nishiwaki, K., et al.: Online generation of humanoid walking motion based on a fast generation method of motion pattern that follows desired ZMP. In: Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, vol. 3, pp. 2684–2689 (2002)
Sugihara, T., Nakamura, Y., Inoue, H.: Real-time humanoid motion generation through ZMP manipulation based on inverted pendulum control. In: Proceedings of the IEEE International Conference on Robotics and Automation, vol. 2, pp.1404–1409 (2002)
Kajita, S., et al.: Biped walking pattern generation by using preview control of zero-moment point. In: Proceedings of IEEE International Conference on Robotics and Automation, vol. 2, pp. 1620–1626 (2003)
Kajita, S., et al.: Biped walking pattern generator allowing auxiliary ZMP control. In: Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2993–2999 (2006)
Park, J., Youm, Y.: General ZMP preview control for bipedal walking. In: Proceedings of IEEE International Conference on Robotics and Automation, pp. 2682–2687 (2007)
Nishiwaki, K., Kagami, S.: Simultaneous planning of CoM and ZMP based on the preview control method for online walking control. In: Proceedings of IEEE-RAS International Conference on Humanoid Robots, pp. 745–751 (2011)
Czarnetzki, S., Kerner, S., Urbann, O.: Observer-based dynamic walking control for biped robots. Rob. Auton. Syst. 57(8), 839–845 (2009)
Urbann, O., Tasse, S.: Observer based biped walking control, a sensor fusion approach. Auton. Robots 35(1), 37–49 (2013)
Katayama, T., Ohki, T., Inoue, T., Kato, T.: Design of an optimal controller for a discrete time system subject to previewable demand. Int. J. Control 41(3), 677–699 (1985)
Huang, Q., et al.: Planning walking patterns for a biped robot. IEEE Trans. Rob. Autom 3(17), 280–289 (2001)
Kaneko, K., et al.: Design of LRP humanoid robot and its control method. In: IEEE Int. workshop on Robot and Human Interactive Communication, Roman, pp. 556–561 (2001)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2015 Springer International Publishing Switzerland
About this paper
Cite this paper
Ding, J., Xiao, X., Wang, Y., Xu, B. (2015). Preview Control with an Angle Adjustment Strategy for Robust Real-Time Biped Walking Pattern Generation. In: Liu, H., Kubota, N., Zhu, X., Dillmann, R., Zhou, D. (eds) Intelligent Robotics and Applications. ICIRA 2015. Lecture Notes in Computer Science(), vol 9245. Springer, Cham. https://doi.org/10.1007/978-3-319-22876-1_28
Download citation
DOI: https://doi.org/10.1007/978-3-319-22876-1_28
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-22875-4
Online ISBN: 978-3-319-22876-1
eBook Packages: Computer ScienceComputer Science (R0)