Abstract
In this paper, an optimized gait pattern generation is produced for a three dimensional bipedal robot using a Minimum Jerk criterion in the single support phase. Three approaches are introduced and compared in this framework. The Minimum Jerk based control approaches are the point-to-point, the Via-point and the shape function trajectory. Simulation results show that the point-to-point Minimum Jerk-based control cannot be satisfactory since the supposed swinging leg of the bipedal robot doesn´t lift off the ground. However, a bipedal stable human-like movement is guaranteed using both last approaches.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
Similar content being viewed by others
References
Vukobratovic, M., Borovac, B., Surla, D., Stokic, D.: Biped Locomotion: Dynamics, Stability, Control and Application. Springer, Heidelberg (1989)
Kajita, S., Kanehiro, F., Kaneko, K., Yokoi, K., Hirukawa, H.: The 3D Linear Inverted Pendulum Mode: A Simple Modeling for a Biped Walking Pattern Generation. In: IEEE International Conference on Intelligent Robots and Systems, vol. 1, pp. 239–246 (November 2001)
Sugihara, T., Nakamura, Y., Inoue, H.: Realtime Humanoid Motion Generation through ZMP Manipulation based on Inverted Pendulum Control. In: IEEE International Conference on Robotics and Automation, vol. 3, pp. 1404–1409 (May 2002)
Hirai, K., Hirose, M., Haikawa, Y., Takenaka, T.: The Development of Honda Humanoid Robot. In: IEEE International Conference on Robotics and Automation, vol. 2, pp. 1321–1326 (May 1998)
Huang, Q., Yokoi, K., Kajita, S., Kaneko, K., Arai, H., Koyachi, N., Tanie, K.: Planning Walking Patterns for a Biped Robot. IEEE Transactions on Robotics and Automation 17(3), 280–289 (2001)
Kajita, S., Tani, K.: Study of Dynamic Biped Locomotion on Rugged Terrain –Theory and Basic Experiment. In: IEEE International Conference on Advanced Robotics, vol. 1, pp. 741–746 (June 1991)
Erbatur, K., Kurt, O.: Natural ZMP Trajectories for Biped Robot Reference Generation. IEEE Transactions on Industrial Electronics 56(3), 835–845 (2009)
Kajita, S., Kahehiro, F., Kaneko, K., Fujiwara, K., Harada, K., Yokoi, K., Hirukawa, H.: Biped Walking Pattern Generation using Preview Control of the Zero-Moment-Point. In: IEEE International Conference on Robotics and Automation, vol. 2, pp. 1620–1626 (September 2003)
Park, J.H., Kim, K.D.: Biped Robot Walking using Gravity Compensated Inverted Pendulum Mode and Computed Torque Control. In: IEEE International Conference on Robotics and Automation, vol. 4, pp. 3528–3533 (May 1998)
Erbatur, K., Seven, U.: An Inverted Pendulum Based Approach to Biped Trajectory Generation with Swing Leg Dynamics. In: IEEE International Conference on Humanoid Robots, pp. 216–221 (November 2007)
Motoi, N., Suzuki, T., Ohnishi, K.: A Bipedal Locomotion Planning Based on Virtual Linear Inverted Pendulum Model. IEEE Transactions on Industrial Electronics 56(1), 54–61 (2009)
Tzafestas, S., Raibert, M., Tzafestas, C.: Robust Sliding-mode Control Applied to a 5-link Biped Robot. J. Intelligent and Robotic Systems. 15(1), 67–133 (1996)
Hurmuzlu, Y.: Dynamics of Bipedal Gait: Part I-Objective Functions and the Contact Event of a Planar Five-link Biped. J. Applied Mechanics. 60(2), 331–336 (1993)
Chevallereau, C., Aoustin, Y.: Optimal Reference Trajectories for Walking and Running of a Biped Robot. J.Robotica 19(5), 557–569 (2001)
Tlalolini, D., Chevallereau, C., Aoustin, Y.: Comparison of Different Gaits with Rotation of the Feet for a Planar Biped. J. Robotics and Autonomous Systems 57(4), 371–383 (2009)
Gasparetto, A., Zanotto, V.: A Technique for Time-jerk Optimal Planning of Robot Trajectories. J. Robotics and Computer-Integrated Manufacturing 24(3), 415–426 (2008)
Gasparetto, A., Zanotto, V.: Optimal Trajectory Planning for Industrial Robots. J. Advances in Engineering Software 41(4), 548–556 (2010)
Piazzi, A., Visioli, A.: Global Minimum-jerk Trajectory Planning of Robot Manipulators. IEEE Transactions on Industrial Electronics 47(1), 140–149 (2000)
Yang, J., Kim, J., Pitarch, E.P., Abdel-Malek, K.: Optimal Trajectory Planning for Redundant Manipulators Based on Minimum Jerk. In: International Conference on Design Engineering Technology and International Conference on Computers and Information in Engineering, pp. 1141–1150 (August 2008)
Hogan, N., Flash, T.: The Coordination of Arm Movements: An Experimentally Confirmed Mathematical Model. J. Neuroscience 5(7), 1688–1703 (1985)
Boonpratatong, A., Malisuwan, S., Degenaar, P., Veeraklaew, T.: A Minimum Jerk Design of Active Artificial Foot. In: Mechtronic and Embedded Systems and Applications, pp. 443–448 (October 2008)
Aloulou, A., Boubaker, O.: Control of a Step Walking Combined to Arms Swinging for a Three Dimensional Humanoid Prototype. J. Computer Science 6(8), 886–895 (2010)
Hemami, H.: A General Framework for Rigid Body Dynamics, Stability and Control. J. Dynamic Systems, Measurement, and Control 124(2), 241–252 (2002)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2011 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Aloulou, A., Boubaker, O. (2011). Minimum Jerk-Based Control for a Three Dimensional Bipedal Robot. In: Jeschke, S., Liu, H., Schilberg, D. (eds) Intelligent Robotics and Applications. ICIRA 2011. Lecture Notes in Computer Science(), vol 7102. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-25489-5_25
Download citation
DOI: https://doi.org/10.1007/978-3-642-25489-5_25
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-25488-8
Online ISBN: 978-3-642-25489-5
eBook Packages: Computer ScienceComputer Science (R0)