Human-Like Walking with Heel Off and Toe Support for Biped Robot
Source abstract
Abstract
The under-actuated foot rotation that the heel of the stance leg lifts off the ground and the body rotates around the stance toe is an important feature in human walking. However, it is absent in the realized walking gait for the majority of biped robots because of the difficulty and complexity in the control it brings about. In this paper, a hybrid control approach aiming to integrate the main characteristics of human walking into a simulated seven-link biped robot is presented and then verified with simulations. The bipedal robotic gait includes a fully actuated single support phase with the stance heel supporting the body, an under-actuated single support phase, with the stance toe supporting the body, and an instantaneous double support phase when the two legs exchange their roles. The walking controller combines virtual force control and foot placement control, which are applied to the stance leg and the swing leg, respectively. The virtual force control assumes that there is a virtual force which can generate the desired torso motion on the center of mass of the torso link, and then the virtual force is applied through the real torques on each actuated joint of the stance leg to create the same effect that the virtual force would have created. The foot placement control uses a path tracking controller to follow the predefined trajectory of the swing foot when walking forward. The trajectories of the torso and the swing foot are generated based on the cart-cable model. Co-simulations in Adams and MATLAB show that the desired gait is achieved with a biped robot under the action of the proposed method.
Source: crossref · Quality: baseline
Research context
OpenAlex topics: Robotic Locomotion and Control · Prosthetics and Rehabilitation Robotics · Neurogenetic and Muscular Disorders Research
SciVX discovery tags are terminology-based. OpenAlex topics are source-provided classifications.
Affiliations
State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150080, China
Legs + Walking Lab, Shirley Ryan AbilityLab (Formerly the Rehabilitation Institute of Chicago), Chicago, IL 60611, USA
Department of Physical Medicine and Rehabilitation, Northwestern University, Chicago, IL 60611, USA
Funding
National Natural Science Foundation of China · China Scholarship Council
References (34)
Show source-provided references
1. Nugroho, S., Prihatmanto, A., and Rohman, A. (2014, January 24–25). Design and implementation of kinematics model and trajectory planning for NAO humanoid robot in a tic-tac-toe board game. Proceedings of the 2014 IEEE 4th International Conference on System Engineering and Technology, Bandung, Indonesia.10.1109/ICSEngT.2014.7111783 ↗
2. Ghassemi, P., Masouleh, M., and Kalhor, A. (2014, January 15–17). Push recovery for NAO humanoid robot. Proceeding of the 2nd RSI/ISM International Conference on Robotics and Mechatronics, Tehran, Iran.10.1109/ICRoM.2014.6990873 ↗
3. iCub: The design and realization of an open humanoid platform for cognitive and neuroscience research10.1163/156855307781389419 ↗
4. The iCub humanoid robot: An open-systems platform for research in cognitive development10.1016/j.neunet.2010.08.010 ↗
5. Sakagami, Y., Watanabe, R., Aoyama, C., Matsunaga, S., Higaki, N., and Fujimura, K. (October, January 30). The intelligent asimo: System overview and integration. Proceedings of the 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems, Lausanne, Switzerland.
6. Kanazawa, M., Nozawa, S., Kakiuchi, Y., Kanemoto, Y., Kuroda, M., Okada, K., Inaba, M., and Yoshiike, T. (October, January 28). Robust vertical ladder climbing and transitioning between ladder and catwalk for humanoid robots. Proceedings of the 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, Hamburg, Germany.10.1109/IROS.2015.7353672 ↗
7. Kaneko, K., Harada, K., Kanehiro, F., Miyamori, G., and Akachi, K. (2008, January 22–26). Humanoid robot HRP-3. Proceedings of the 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, Nice, France.10.1109/IROS.2008.4650604 ↗
8. Kaneko, K., Kanehiro, F., Morisawa, M., Tsuji, T., Miura, K., Nakaoka, S., Kajita, S., and Yokoi, K. (2011, January 25–30). Hardware improvement of cybernetic human HRP-4C for entertainment use. Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, San Francisco, CA, USA.10.1109/IROS.2011.6094415 ↗
9. Kaneko, K., Kanehiro, F., Morisawa, M., Akachi, K., Miyamori, G., Hayashi, A., and Kanehira, N. (2011, January 25–30). Humanoid robot HRP-4—Humanoid robotics platform with lightweight and slim body. Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, San Francisco, CA, USA.10.1109/IROS.2011.6048074 ↗
10. Feng, S., Xinjilefu, X, Atkeson, C., and Kim, J. (2015, January 3–5). Optimization based controller design and implementation for the atlas robot in the DARPA robotics challenge finals. Proceedings of the 2015 IEEE-RAS International Conference on Humanoid Robots, Seoul, Korea.10.1109/HUMANOIDS.2015.7363480 ↗
11. Chong, Z., Hung, R., Lee, K., Wang, W., Ng, T., and Newman, W. (2015, January 11–12). Autonomous wall cutting with an Atlas humanoid robot. Proceedings of the 2015 IEEE International Conference on Technologies for Practical Robot Applications, Woburn, MA, USA.10.1109/TePRA.2015.7219673 ↗
12. Zero-moment point—Thirty-five years of its life10.1142/S0219843604000083 ↗
13. ZMP: A review of some basic misunderstandings10.1142/S0219843606000710 ↗
14. The advantages of a rolling foot in human walking10.1242/jeb.02455 ↗
15. Choi, J.H., and Grizzle, J.W. (2005, January 8–10). Planar bipedal walking with foot rotation. Proceedings of the 2005 American Control Conference, Portland, OR, USA.
16. Control of a powered ankle-foot prosthesis based on a neuromuscular model10.1109/TNSRE.2009.2039620 ↗
17. Comparison of different gaits with rotation of the feet for a planar biped10.1016/j.robot.2008.09.008 ↗
18. Kouchaki, E., and Sadigh, M.J. (2010, January 14–18). Effect of toe-joint bending on biped gait performance. Proceedings of the 2010 IEEE International Conference on Robotics and Biomimetics, Tianjin, China.10.1109/ROBIO.2010.5723411 ↗
19. Mahdokht, E., Khadiv, M., and Moosavian, S.A.A. (2015, January 7–9). Effects of toe-off and heel-off motions on gait performance of biped robots. Proceedings of the 3rd RSI International Conference on Robotics and Mechatronics, Tehran, Iran.
20. Human-like walking: Optimal motion of a bipedal robot with toe-rotation motion10.1109/TMECH.2010.2042458 ↗
21. Sellaouti, R., Stasse, O., Kajita, S., Yokoi, K., and Kheddar, A. (2006, January 9–15). Faster and smoother walking of humanoid HRP-2 with passive toe joints. Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, Beijing, China.10.1109/IROS.2006.282449 ↗
22. Kajita, S., Kaneko, K., Morisawa, M., Nakaoka, S., and Hirukawa, H. (2007, January 10–14). ZMP-based biped running enhanced by toe springs. Proceedings of the 2009 IEEE International Conference on Robotics and Automation, Roma, Italy.10.1109/ROBOT.2007.364087 ↗
23. Miura, K., Morisawa, M., Kanehiro, F., Kajita, S., Kaneko, K., and Yokoi, K. (2011, January 25–30). Human-like walking with toe supporting for humanoids. Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, San Francisco, CA, USA.10.1109/IROS.2011.6048511 ↗
24. Stable bipedal walking with foot rotation through direct regulation of the zero moment point10.1109/TRO.2007.913563 ↗
25. Sinnet, R.W., Powell, M.J., Shah, R.P., and Ames, A.D. (September, January 28). A Human-inspired hybrid control approach to bipedal robotic walking. Proceedings of the 18th World Congress/The International Federation of Automatic Control, Milano, Italy.
26. Zhao, H., Ma, W., and Zeagler, M.B. (2014, January 14–17). Human-inspired multi-contact locomotion with AMBER2. Proceedings of the 2014 ACM/IEEE International Conference on Cyber-Physical Systems, Berlin, Germany.10.1109/ICCPS.2014.6843723 ↗
27. Multi-contact bipedal robotic locomotion10.1017/S0263574715000995 ↗
28. Human-like compliant locomotion: State of the art of robotic implementations10.1088/1748-3190/11/5/051002 ↗
29. Ames, A.D., Vasudevan, R., and Bajcsy, R. (2011, January 12–14). Human-data based cost of bipedal robotic walking. Proceedings of the 14th International Conference on Hybrid Systems: Computation and Control, Vienna, Austria.10.1145/1967701.1967725 ↗
30. Pratt, J., Dilworth, P., and Pratt, G. (1997, January 25). Virtual model control of a bipedal walking robot. Proceedings of the 1997 IEEE International Conference on Robotics and Automation, Albuquerque, NM, USA.
31. Li, Z., Vanderborght, B., Tsagarakis, N.G., and Caldwell, D.G. (2010, January 7–10). Human-like Walking with straightened knees, toe-off and heel-strike for the humanoid robot iCub. Proceedings of the 2010 UKACC International Conference on Control, Coventry, UK.
32. Chen, X., Zhou, Y., Huang, Q., Yu, Z., Ma, G., Meng, L., and Fu, C. (2014, January 18–20). Bipedal walking with toe-off, heel-strike and compliance with external disturbances. Proceedings of the 2014 14th IEEE-RAS International Conference on Humanoid Robots, Madrid, Spain.10.1109/HUMANOIDS.2014.7041409 ↗
33. Kajita, S., Kanehiro, F., Kaneko, K., Fujiwara, K., Harada, K., Yokoi, K., and Hirukawa, H. (2003, January 14–19). Biped walking pattern generation by using preview control of zero-moment point. Proceedings of the 2003 IEEE International Conference on Robotics and Automation, Taipei, Taiwan.
34. Kajita, S., Kanehiro, F., Kaneko, K., Yokoi, K., and Hirukawa, H. (November, January 29). The 3D linear inverted pendulum model: A simple modeling for a biped walking pattern generation. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Maui, HI, USA.