Cycle stability and consumption energy efficiency evaluation of walking stabilized by stepping feedforward and visual-lifting feedback

Keli Shen; Xiang Li; Izawa Daiji; Mamoru Minami

doi:10.1109/ROBIO.2017.8324714

Cycle stability and consumption energy efficiency evaluation of walking stabilized by stepping feedforward and visual-lifting feedback

Keli Shen, Xiang Li, Izawa Daiji, Mamoru Minami

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

Abstract

Biped locomotion created by control method based on Zero-Moment Point (ZMP) has been realized. However, this motion looks different from humans' walking since ZMP-based walking does not include tiptoe state. And when ZMP is on the tip of supporting foot, ZMP-control cannot work, making the humanoid tend to fall down. Besides, ZMP control lowers the humanoid robots' waist and keeps the knee bended, making robots walk like monkeys. Therefore, keeping the dynamical walking stable is a challenging issue for realizing human-like natural walking including tiptoe state. Our group has constructed dynamical walking model of humanoid robot including impact, point-contacting, surface-contacting and slipping of foot. And we have derived the dynamical equation by the Extended NE method. Combined control of Visual Lifting Approach and stepping feedforward is effective to stabilize biped walking without using ZMP. Walking efficiency is also an important issue to be discussed.

Original language	English
Title of host publication	2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	2009-2014
Number of pages	6
Volume	2018-January
ISBN (Electronic)	9781538637418
DOIs	https://doi.org/10.1109/ROBIO.2017.8324714
Publication status	Published - Mar 23 2018
Event	2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017 - Macau, China Duration: Dec 5 2017 → Dec 8 2017

Other

Other	2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017
Country	China
City	Macau
Period	12/5/17 → 12/8/17

ASJC Scopus subject areas

Artificial Intelligence
Mechanical Engineering
Control and Optimization
Modelling and Simulation

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10.1109/ROBIO.2017.8324714

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Shen, K., Li, X., Daiji, I., & Minami, M. (2018). Cycle stability and consumption energy efficiency evaluation of walking stabilized by stepping feedforward and visual-lifting feedback. In 2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017 (Vol. 2018-January, pp. 2009-2014). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ROBIO.2017.8324714

Cycle stability and consumption energy efficiency evaluation of walking stabilized by stepping feedforward and visual-lifting feedback. / Shen, Keli; Li, Xiang; Daiji, Izawa; Minami, Mamoru.

2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017. Vol. 2018-January Institute of Electrical and Electronics Engineers Inc., 2018. p. 2009-2014.

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

Shen, K, Li, X, Daiji, I & Minami, M 2018, Cycle stability and consumption energy efficiency evaluation of walking stabilized by stepping feedforward and visual-lifting feedback. in 2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017. vol. 2018-January, Institute of Electrical and Electronics Engineers Inc., pp. 2009-2014, 2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017, Macau, China, 12/5/17. https://doi.org/10.1109/ROBIO.2017.8324714

Shen K, Li X, Daiji I, Minami M. Cycle stability and consumption energy efficiency evaluation of walking stabilized by stepping feedforward and visual-lifting feedback. In 2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017. Vol. 2018-January. Institute of Electrical and Electronics Engineers Inc. 2018. p. 2009-2014 https://doi.org/10.1109/ROBIO.2017.8324714

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abstract = "Biped locomotion created by control method based on Zero-Moment Point (ZMP) has been realized. However, this motion looks different from humans' walking since ZMP-based walking does not include tiptoe state. And when ZMP is on the tip of supporting foot, ZMP-control cannot work, making the humanoid tend to fall down. Besides, ZMP control lowers the humanoid robots' waist and keeps the knee bended, making robots walk like monkeys. Therefore, keeping the dynamical walking stable is a challenging issue for realizing human-like natural walking including tiptoe state. Our group has constructed dynamical walking model of humanoid robot including impact, point-contacting, surface-contacting and slipping of foot. And we have derived the dynamical equation by the Extended NE method. Combined control of Visual Lifting Approach and stepping feedforward is effective to stabilize biped walking without using ZMP. Walking efficiency is also an important issue to be discussed.",

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