Walking Trajectory Generation for Humanoid Robots with Compliant Joints: Experimentation with COMAN Humanoid

Zhibin Li; Nikolaos Tsagarakis; Darwin G. Caldwell

doi:10.1109/ICRA.2012.6225018

Walking Trajectory Generation for Humanoid Robots with Compliant Joints: Experimentation with COMAN Humanoid

Zhibin Li, Nikolaos Tsagarakis, Darwin G. Caldwell

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

Abstract

This work introduces a walking pattern generator suitable for humanoids with inherent joint compliance. The proposed walking pattern generator computes the desired center of mass (COM) references on-line based on the COM state feedback. The position and velocity of the COM are the feedback variables, and the constraint ground reaction force (GRF), which is limited by the support polygon, is the control effort to drive the COM states to track the desired ones. The zero moment point (ZMP) is obtained naturally as a result of GRF interaction with robot feet. The proposed COM tracking scheme demands a lower bandwidth from the controller compared to the ZMP tracking schemes. Experimental data of the real compliant humanoid, such as ZMP, COM motion, and GRF are presented to demonstrate the validation of the proposed gait generation method.

Original language	English
Title of host publication	Robotics and Automation (ICRA), 2012 IEEE International Conference on
Place of Publication	Minnesota, USA
Publisher	Institute of Electrical and Electronics Engineers
Number of pages	6
ISBN (Electronic)	978-1-4673-1404-6
ISBN (Print)	978-1-4673-1403-9
DOIs	https://doi.org/10.1109/ICRA.2012.6225018
Publication status	Published - 2012

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title = "Walking Trajectory Generation for Humanoid Robots with Compliant Joints: Experimentation with COMAN Humanoid",

abstract = "This work introduces a walking pattern generator suitable for humanoids with inherent joint compliance. The proposed walking pattern generator computes the desired center of mass (COM) references on-line based on the COM state feedback. The position and velocity of the COM are the feedback variables, and the constraint ground reaction force (GRF), which is limited by the support polygon, is the control effort to drive the COM states to track the desired ones. The zero moment point (ZMP) is obtained naturally as a result of GRF interaction with robot feet. The proposed COM tracking scheme demands a lower bandwidth from the controller compared to the ZMP tracking schemes. Experimental data of the real compliant humanoid, such as ZMP, COM motion, and GRF are presented to demonstrate the validation of the proposed gait generation method.",

author = "Zhibin Li and Nikolaos Tsagarakis and Caldwell, {Darwin G.}",

year = "2012",

doi = "10.1109/ICRA.2012.6225018",

language = "English",

isbn = "978-1-4673-1403-9",

booktitle = "Robotics and Automation (ICRA), 2012 IEEE International Conference on",

publisher = "Institute of Electrical and Electronics Engineers",

address = "United States",

}

Walking Trajectory Generation for Humanoid Robots with Compliant Joints: Experimentation with COMAN Humanoid. / Li, Zhibin; Tsagarakis, Nikolaos; Caldwell, Darwin G.
Robotics and Automation (ICRA), 2012 IEEE International Conference on. Minnesota, USA: Institute of Electrical and Electronics Engineers, 2012.

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

TY - GEN

T1 - Walking Trajectory Generation for Humanoid Robots with Compliant Joints: Experimentation with COMAN Humanoid

AU - Li, Zhibin

AU - Tsagarakis, Nikolaos

AU - Caldwell, Darwin G.

PY - 2012

Y1 - 2012

N2 - This work introduces a walking pattern generator suitable for humanoids with inherent joint compliance. The proposed walking pattern generator computes the desired center of mass (COM) references on-line based on the COM state feedback. The position and velocity of the COM are the feedback variables, and the constraint ground reaction force (GRF), which is limited by the support polygon, is the control effort to drive the COM states to track the desired ones. The zero moment point (ZMP) is obtained naturally as a result of GRF interaction with robot feet. The proposed COM tracking scheme demands a lower bandwidth from the controller compared to the ZMP tracking schemes. Experimental data of the real compliant humanoid, such as ZMP, COM motion, and GRF are presented to demonstrate the validation of the proposed gait generation method.

AB - This work introduces a walking pattern generator suitable for humanoids with inherent joint compliance. The proposed walking pattern generator computes the desired center of mass (COM) references on-line based on the COM state feedback. The position and velocity of the COM are the feedback variables, and the constraint ground reaction force (GRF), which is limited by the support polygon, is the control effort to drive the COM states to track the desired ones. The zero moment point (ZMP) is obtained naturally as a result of GRF interaction with robot feet. The proposed COM tracking scheme demands a lower bandwidth from the controller compared to the ZMP tracking schemes. Experimental data of the real compliant humanoid, such as ZMP, COM motion, and GRF are presented to demonstrate the validation of the proposed gait generation method.

U2 - 10.1109/ICRA.2012.6225018

DO - 10.1109/ICRA.2012.6225018

M3 - Conference contribution

SN - 978-1-4673-1403-9

BT - Robotics and Automation (ICRA), 2012 IEEE International Conference on

PB - Institute of Electrical and Electronics Engineers

CY - Minnesota, USA

ER -

Walking Trajectory Generation for Humanoid Robots with Compliant Joints: Experimentation with COMAN Humanoid

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