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 | |
| 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 |
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ASJC Scopus subject areas
- Artificial Intelligence
- Mechanical Engineering
- Control and Optimization
- Modelling and Simulation
Cite this
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
}
TY - GEN
T1 - Cycle stability and consumption energy efficiency evaluation of walking stabilized by stepping feedforward and visual-lifting feedback
AU - Shen, Keli
AU - Li, Xiang
AU - Daiji, Izawa
AU - Minami, Mamoru
PY - 2018/3/23
Y1 - 2018/3/23
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=85049991152&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85049991152&partnerID=8YFLogxK
U2 - 10.1109/ROBIO.2017.8324714
DO - 10.1109/ROBIO.2017.8324714
M3 - Conference contribution
AN - SCOPUS:85049991152
VL - 2018-January
SP - 2009
EP - 2014
BT - 2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017
PB - Institute of Electrical and Electronics Engineers Inc.
ER -