Energy-efficient reference gait generation utilizing variable ZMP and vertical hip motion based on inverted pendulum model for biped robots

ICCAS 2010 ◽  
2010 ◽  
Author(s):  
Hyeok Ki Shin ◽  
Byung Kook Kim
Keyword(s):  
Energy Efficient ◽  
Inverted Pendulum ◽  
Biped Robots ◽  
Gait Generation ◽  
Inverted Pendulum Model ◽  
Pendulum Model ◽  
Hip Motion

Energy-Efficient Bipedal Walking: From Single-Mass Model to Three-Mass Model

Robotica ◽  
2021 ◽  
pp. 1-23
Author(s):  
Jiatao Ding ◽  
Jiangchen Zhou ◽  
Zhao Guo ◽  
Xiaohui Xiao
Keyword(s):  
Energy Efficient ◽  
Inverted Pendulum ◽  
Energy Performance ◽  
Cost Evaluation ◽  
Bipedal Walking ◽  
Energetic Cost ◽  
Optimization Approach ◽  
Mass Model ◽  
Inverted Pendulum Model ◽  
Pendulum Model

SUMMARY The work aims to realize energy-efficient bipedal walking by employing the three-mass inverted pendulum model (3MIPM) and compare its energy performance with linear inverted pendulum model (LIPM). To do this, a general optimal index on center of mass (CoM) acceleration is first derived for energetic cost evaluation. After defining the equivalent zero moment point (ZMP) motion, an unconstrained optimization approach for CoM generation is extended for 3MIPM, which can track different ZMP references and address the height variation as well. To make use of the allowable ZMP movement, a constrained optimization method is also employed, contributing to lower energetic cost. Simulation and hardware experiments on a humanoid robot demonstrate that the 3MIPM could achieve higher energy efficiency.

Energy-efficient gait generation for biped robot based on the passive inverted pendulum model

Robotica ◽  
2010 ◽  
Vol 29 (4) ◽  
pp. 595-605 ◽  
Author(s):  
Jian Li ◽  
Weidong Chen
Keyword(s):  
Energy Efficient ◽  
Inverted Pendulum ◽  
Mechanical Energy ◽  
Biped Robot ◽  
Gait Pattern ◽  
Pattern Generation ◽  
Inverted Pendulum Model ◽  
Pendulum Model ◽  
Good Energy ◽  
Efficient Gait

SUMMARYFrom the viewpoint of the system's mechanical energy, the passive inverted pendulum model (PIPM) is proposed for the generation of more energy-efficient biped gait pattern. The generated walking pattern, based on the PIPM, enables the fully actuated biped robots to closely mimic the behavior of stable passive walking, so that it can have good energy-efficiency, which is the inherent advantage of the passive system. Furthermore, the pattern generation method is extended to any desired terrain as well. As for SHR-1, the first-generation biped robot of Shanghai Jiao Tong University, gait synthesis is clarified in detail. Finally, the walking experiments are carried out on SHR-1, and the effectiveness of the proposed pattern generation method is confirmed.

scholarly journals Trajectory Planning of Flexible Walking for Biped Robots Using Linear Inverted Pendulum Model and Linear Pendulum Model

Sensors ◽  
2021 ◽  
Vol 21 (4) ◽  
pp. 1082
Author(s):  
Long Li ◽  
Zhongqu Xie ◽  
Xiang Luo ◽  
Juanjuan Li
Keyword(s):  
Trajectory Planning ◽  
Inverted Pendulum ◽  
Negative Impact ◽  
Center Of Mass ◽  
Biped Robot ◽  
Biped Robots ◽  
Double Support ◽  
Inverted Pendulum Model ◽  
Pendulum Model ◽  
Support Phase

Linear inverted pendulum model (LIPM) is an effective and widely used simplified model for biped robots. However, LIPM includes only the single support phase (SSP) and ignores the double support phase (DSP). In this situation, the acceleration of the center of mass (CoM) is discontinuous at the moment of leg exchange, leading to a negative impact on walking stability. If the DSP is added to the walking cycle, the acceleration of the CoM will be smoother and the walking stability of the biped will be improved. In this paper, a linear pendulum model (LPM) for the DSP is proposed, which is similar to LIPM for the SSP. LPM has similar characteristics to LIPM. The dynamic equation of LPM is also linear, and its analytical solution can be obtained. This study also proposes different trajectory-planning methods for different situations, such as periodic walking, adjusting walking speed, disturbed state recovery, and walking terrain-blind. These methods have less computation and can plan trajectory in real time. Simulation results verify the effectiveness of proposed methods and that the biped robot can walk stably and flexibly when combining LIPM and LPM.

scholarly journals Balancing on a narrow ridge: biomechanics and control

1999 ◽  
Vol 354 (1385) ◽  
pp. 869-875 ◽  
Author(s):  
E. Otten
Keyword(s):  
Hip Joint ◽  
Ground Reaction Force ◽  
Inverted Pendulum ◽  
Reaction Force ◽  
Angular Acceleration ◽  
Centre Of Mass ◽  
Inverted Pendulum Model ◽  
Pendulum Model ◽  
Narrow Ridge ◽  
Standing Humans

The balance of standing humans is usually explained by the inverted pendulum model. The subject invokes a horizontal ground–reaction force in this model and controls it by changing the location of the centre of pressure under the foot or feet. In experiments I showed that humans are able to stand on a ridge of only a few millimetres wide on one foot for a few minutes. In the present paper I investigate whether the inverted pendulum model is able to explain this achievement. I found that the centre of mass of the subjects sways beyond the surface of support, rendering the inverted pendulum model inadequate. Using inverse simulations of the dynamics of the human body, I found that hip–joint moments of the stance leg are used to vary the horizontal component of the ground–reaction force. This force brings the centre of mass back over the surface of support. The subjects generate moments of force at the hip–joint of the swing leg, at the shoulder–joints and at the neck. These moments work in conjunction with a hip strategy of the stance leg to limit the angular acceleration of the head–arm–trunk complex. The synchrony of the variation in moments suggests that subjects use a motor programme rather than long latency reflexes.

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