Summary
This paper addresses an online walking control system in which dynamically stable motion pattern is generated and updated at every 20 [ms] cycle. We show that the frequent update of the pattern enables a robot to maintain long term balance of actual walking through the repetitive pattern generation. Short cycle generation also enables a robot to reflect change of stepping position with short delay after the change of the command input. Preview control theory is adopted for generating dynamically stable walking pattern. Then we propose a method of adjusting future ZMP goal by changing the stepping position. Future ZMP goal is changed so that the current dynamic balance is maintained. Command input that requires impossible sudden change of landing position is modified by this mechanism. It also changes the stepping position in order to compensate the error of ZMP that is caused by disturbance while actual walking. The proposed system is implemented on full-size humanoid HRP-2. Experiments on HRP-2, such as pushing a table, show the performance of the proposed walking control system.
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
Setiawan, S.A., Hyon, S.H., Yamaguchi, J., Takanishi, A.: Physical interaction between human and a bipedal humanoid robot – realization of human-follow walking. In: Proceddings of the 1997 IEEE International Conference on Robotics and Automation, pp. 361–367 (1999)
Nishiwaki, K., Sugihara, T., Kagami, S., Inaba, M., Inoue, H.: Realtime generation of humanoid walking trajectory by mixture and connection of pre-designed motions – online control by footprint specification. In: ICRA 2001. Proc. of International Conference on Robotics and Automation, pp. 4110–4115 (2001)
Yokoi, K., Kanehiro, F., Kaneko, K., Fujiwara, K., Kajita, S., Hirukawa, H.: A honda humanoid robot controlled by aist software. In: Proc. of the IEEE-RAS International Conference on Humanoid Robots, pp. 259–264 (2001)
Kaneshima, Y., Sugahara, Y., Ando, S., Sato, M., ok Lim, H., Takanishi, A.: Quasi real-time motion pattern generation for bipedal humanoid robots. In: Proceedings of 19th Annual Conference on Robotics Society of Japan, pp. 987–988 (2001)
Nishiwaki, K., Kagami, S., Kuniyoshi, Y., Inaba, M., Inoue, H.: Online generation of humanoid walking motion based on a fast generation method of motion pattern that follows desired zmp. In: IROS 2002. Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2684–2689 (2002)
Sakagami, Y., Watanabe, R., Aoyama, C., Matsunaga, S., Higaki, N., Fujimura, K.: The intelligent asimo: System overview and integration. In: IROS 2002. Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2478–2483 (2002)
Chestnutt, J., Kuffner, J.: A tiered planning strategy for biped navigation. In: Humanoids 2004. Proc. of IEEE-RAS/RSJ International Conference on Humanoid Robots (2004)
Gutmann, J.-S., Fukuchi, M., Fujita, M.: Real-time path planning for humanoid robot navigation. In: IJCAI 2005. Proc. of 2005 International Joint Conferences on Artificial Intelligence, pp. 1232–1237 (2005)
Kajita, S., Kanehiro, F., Kaneko, K., Fujiwara, K., Harada, K., Yokoi, K., Hirukawa, H.: Biped walking pattern generation by using preview control of zero-moment point. In: ICRA 2003. Proc. of IEEE International Conference on Robotics and Automation, pp. 1620–1626 (2003)
Nishiwaki, K., Kagami, S., Kuffner, J.J., Inaba, M., Inoue, H.: Online humanoid walking control system and a moving goal tracking experimant. In: ICRA 2003. IEEE International Conference on Robotics and Automation, pp. 911–916 (2003)
Kaneko, K., Kanehiro, F., Kajita, S., Hirukawa, H., Kawasaki, T., Hirata, M., Akachi, K., Isozumi, T.: Humanoid robot hrp-2. In: ICRA 2004. Proc. of IEEE International Conference on Robotics and Automation, pp. 1083–1090 (2004)
Author information
Authors and Affiliations
Editor information
Rights and permissions
Copyright information
© 2008 Springer-Verlag Berlin Heidelberg
About this chapter
Cite this chapter
Nishiwaki, K., Kagami, S. (2008). Short Cycle Pattern Generation for Online Walking Control System of Humanoids. In: Khatib, O., Kumar, V., Rus, D. (eds) Experimental Robotics. Springer Tracts in Advanced Robotics, vol 39. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-77457-0_51
Download citation
DOI: https://doi.org/10.1007/978-3-540-77457-0_51
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-77456-3
Online ISBN: 978-3-540-77457-0
eBook Packages: EngineeringEngineering (R0)