Dynamical analyses of humanoid's walking by visual lifting stabilization based on event-driven state transition

Tomohide Maeba, Mamoru Minami, Akira Yanou, Takayuki Matsuno, Jumpei Nishiguchi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

13 Citations (Scopus)

Abstract

Biped locomotion created by a controller based on Zero-Moment Point [ZMP] known as reliable control method looks different from human's walking on the view point that ZMP-based walking does not include falling state. However, the walking control that does not depend on ZMP is vulnerable to turnover. Therefore, keeping the event-driven walking of dynamical motion stable is important issue for realization of human-like natural walking. In this paper, walking model of humanoid including slipping, bumping, surface-contacting and point-contacting of foot is discussed, and its dynamical equation is derived by Newton-Euler method. Then, we propose walking stabilizer named Visual Lifting Stabilization strategy to enhance standing robustness and prevent the robot from falling down. Simulation results indicate that this strategy helps stabilize pose and bipedal walking even though ZMP is not kept inside convex hull of supporting area.

Original languageEnglish
Title of host publicationIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
Pages7-14
Number of pages8
DOIs
Publication statusPublished - 2012
Event2012 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2012 - Kaohsiung, Taiwan, Province of China
Duration: Jul 11 2012Jul 14 2012

Other

Other2012 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2012
CountryTaiwan, Province of China
CityKaohsiung
Period7/11/127/14/12

Fingerprint

Biped locomotion
Stabilization
Robots
Controllers

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Computer Science Applications
  • Software

Cite this

Maeba, T., Minami, M., Yanou, A., Matsuno, T., & Nishiguchi, J. (2012). Dynamical analyses of humanoid's walking by visual lifting stabilization based on event-driven state transition. In IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM (pp. 7-14). [6265962] https://doi.org/10.1109/AIM.2012.6265962

Dynamical analyses of humanoid's walking by visual lifting stabilization based on event-driven state transition. / Maeba, Tomohide; Minami, Mamoru; Yanou, Akira; Matsuno, Takayuki; Nishiguchi, Jumpei.

IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM. 2012. p. 7-14 6265962.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Maeba, T, Minami, M, Yanou, A, Matsuno, T & Nishiguchi, J 2012, Dynamical analyses of humanoid's walking by visual lifting stabilization based on event-driven state transition. in IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM., 6265962, pp. 7-14, 2012 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2012, Kaohsiung, Taiwan, Province of China, 7/11/12. https://doi.org/10.1109/AIM.2012.6265962
Maeba T, Minami M, Yanou A, Matsuno T, Nishiguchi J. Dynamical analyses of humanoid's walking by visual lifting stabilization based on event-driven state transition. In IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM. 2012. p. 7-14. 6265962 https://doi.org/10.1109/AIM.2012.6265962
Maeba, Tomohide ; Minami, Mamoru ; Yanou, Akira ; Matsuno, Takayuki ; Nishiguchi, Jumpei. / Dynamical analyses of humanoid's walking by visual lifting stabilization based on event-driven state transition. IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM. 2012. pp. 7-14
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