Similar articles

Abstract: We tackle the problem of a biped running over varied and unknown terrain. Running is a necessary skill for a biped moving fast, but it increases the challenge of dynamic balance, especially when a biped is running on varied terrain without terrain information (due to the difficulty and cost of obtaining the terrain information in a timely manner). To address this issue, a new dynamic indicator called the sustainable running criterion is developed. The main idea is to sustain a running motion without falling by maintaining the system states within a running-feasible set, instead of running on a periodic limit cycle gait in the traditional way. To meet the precondition of the criterion, the angular moment about the center of gravity (COG) is restrained close to zero at the end of the stance phase. Then to ensure a small state jump at touchdown on the unknown terrain, the velocity of the swing foot is restrained within a specific range at the end of the flight phase. Finally, the position and velocity of the COG are driven into the running-feasible set. A five-link biped with underactuated point foot is considered in simulations. It is able to run over upward and downward terrain with a height difference of 0.15~m, which shows the effectiveness of our control scheme.

In this paper, authors are aimed at controlling the biped running under unknown terrain conditions. The key ideas for coping with the unknown terrain are to keep both angular momentum of the whole body and small swinging foot velocity small. The descriptions for mathematical modeling are clear.

稳定与灵活：基于欠驱动机器人在未知变化环境的奔跑运动控制

[1]Chestnutt, J., Lau, M., Cheung, G., et al., 2005. Footstep planning for the Honda ASIMO humanoid. Proc. IEEE Int. Conf. on Robotics and Automation, p.629-634.

[2]Fujimoto, Y., 2004. Trajectory generation of biped running robot with minimum energy consumption. Proc. IEEE Int. Conf. on Robotics and Automation, p.3803-3808.

[3]Hashimoto, K., Sugahara, Y., Kawase, M., et al., 2006. Landing pattern modification method with predictive attitude and compliance control to deal with uneven terrain. Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, p.1755-1760.

[4]Hashimoto, K., Sugahara, Y., Hayashi, A., et al., 2007. New foot system adaptable to convex and concave surface. Proc. IEEE Int. Conf. on Robotics and Automation, p.1869-1874.

[5]Hirukawa, H., Hattori, S., Kajita, S., et al., 2007. A pattern generator of humanoid robots walking on a rough terrain. Proc. IEEE Int. Conf. on Robotics and Automation, p.2181-2187.

[6]Huang, W.W., Chew, C.M., Zheng, Y., et al., 2008. Pattern generation for bipedal walking on slopes and stairs. Proc. 8th IEEE-RAS Int. Conf. on Humanoid Robots, p.205-210.

[7]Kaneko, K., Kanehiro, F., Kajika, S., et al., 2004. Humanoid robot HRP-2 Promet. Proc. IEEE Int. Conf. on Robotics and Automation.

[8]Li, J., Chen, W.D., 2009. Modeling and control for a biped robot on uneven surfaces. Proc. 48th IEEE Conf. on Decision and Control, Jointly with the 28th Chinese Control Conf.,p.2960-2965.

[9]Morisawa, M., Kanehiro, F., Kaneko, K., et al., 2011. Reactive biped walking control for a collision of a swinging foot on uneven terrain. Proc. 11th IEEE-RAS Int. Conf. on Humanoid Robots, p.768-773.

[10]Nishiwaki, K., Kagami, S., 2007. Walking control on uneven terrain with short cycle pattern generation. Proc. 7th IEEE-RAS Int. Conf. on Humanoid Robots, p.447-453.

[11]Nishiwaki, K., Chestnutt, J., Kagami, S., 2012. Autonomous navigation of a humanoid robot over unknown rough terrain using a laser range sensor. Int. J. Robot. Res., 31(11):1251-1262.

[12]Sano, S., Yamada, M., Uchiyama, N., et al., 2008. Point-contact type foot with springs and posture control for biped walking on rough terrain. Proc. 10th IEEE Int. Workshop on Advanced Motion Control, p.480-485.

[13]Seven, U., Akbas, T., Fidan, K.C., et al., 2011. Humanoid robot walking control on inclined planes. Proc. IEEE Int. Conf. on Mechatronics, p.875-880.

[14]Shimizu, H., Wakazuki, Y., Pan, Y.D., et al., 2007. Biped walking robot using a stick on uneven ground. Proc. SICE Annual Conf., p.83-88.

[15]Vukobratović, M., Borovac, B., 2004. Zero-moment point—thirty-five years of its life. Int. J. Human. Robot., 1(1):157-173.

[16]Yamada, M., Maie, H., Maeno, Y., et al., 2010. Design of point-contact type foot with springs for biped robot. Proc. IEEE/ASME Int. Conf. on Advanced Intelligent Mechatronics, p.806-811.

[17]Yi, Y., Lin, Z.Y., Yan, G.F., et al., 2015. A sustainable running criterion for biped balance control. Trans. Inst. Meas. Contr., in press.