YANG Tianqi, ZHANG Weimin, HUANG Qiang, CHEN Xuechao, YU Zhanguo, MENG Libo. A Smooth and Efficient Gait Planning for Humanoids Based on Human ZMP[J]. 机器人, 2017, 39(5): 751-758.DOI: 10.13973/j.cnki.robot.2017.0751.
YANG Tianqi, ZHANG Weimin, HUANG Qiang, CHEN Xuechao, YU Zhanguo, MENG Libo. A Smooth and Efficient Gait Planning for Humanoids Based on Human ZMP. ROBOT, 2017, 39(5): 751-758. DOI: 10.13973/j.cnki.robot.2017.0751.
摘要Based on the ZMP (zero moment point) trajectory and the walking data of human,a new method is proposed to improve the robot walking smoothness as well as to save energy.Firstly,a measurement system is designed to measure the data of humans including the ZMP trajectory and the waist trajectory.Secondly,a new gait planning method which includes presetting the allowable ZMP region is proposed through analyzing human data.Thirdly,the new planning method is applied to the multi-link model based gait planning method.Finally,the feasibility of the proposed method is verified by simulation and experiments.
Abstract：Based on the ZMP (zero moment point) trajectory and the walking data of human,a new method is proposed to improve the robot walking smoothness as well as to save energy.Firstly,a measurement system is designed to measure the data of humans including the ZMP trajectory and the waist trajectory.Secondly,a new gait planning method which includes presetting the allowable ZMP region is proposed through analyzing human data.Thirdly,the new planning method is applied to the multi-link model based gait planning method.Finally,the feasibility of the proposed method is verified by simulation and experiments.
基金资助:the National Natural Science Foundation of China (61320106012,61533004,61375103,61673069,61321002);the 863 Program of China (2015AA043202,2015AA042305);the Key Technologies R&D Program (2015BAF13B01,2015BAK35B01);the Beijing Municipal Science and Technology Project (D161100003016002);the "111" Project (B08043)
作者简介: YANG Tianqi (1993-),male,master candidate.His research interests include humanoid robots. ZHANG Weimin (1976-),male,Ph.D.,associate professor.His research interests include humanoid robots,indoor positioning and bionic vision. HUANG Qiang (1965-),male,Ph.D.,professor.His research interests include humanoid robots and bionic vision.
[1] Hirai K, Hirose M, Haikawa Y, et al. The development of Honda humanoid robot[C]//IEEE International Conference on Robotics and Automation. Piscataway, USA:IEEE, 1998:1321-1326.
[2] Xiong R, Liu Y, Zheng H B. A humanoid robot for table tennis playing[C]//IEEE Workshop on Advanced Robotics and Its Social Impacts. Piscataway, USA:IEEE, 2011:66-67.
[3] Liu Y P, Wensing P M, Orin D E, et al. Dynamic walking in a humanoid robot based on a 3D actuated dual-SLIP model[C]//IEEE International Conference on Robotics and Automation. Piscataway, USA:IEEE, 2015:5710-5717.
[4] Sugihara T, Nakamura Y. A fast online gait planning with boundary condition relaxation for humanoid robots[C]//IEEE International Conference on Robotics and Automation. Piscataway, USA:IEEE, 2005:305-310.
[5] Chen S X, Shen H P, Sun S M, et al. Gait planning and simulation for humanoid robot walking on flat ground[J]. Journal of Machine Design, 2014, 31(12):31-36.
[6] Li J M, Wang J G, Yang S X, et al. Gait planning and stability control of a quadruped robot[J]. Computational Intelligence and Neuroscience, 2016:No.9853070.
[7] Huang Q, Yokoi K, Kajita S, et al. Planning walking patterns for a biped robot[J]. IEEE Transactions on Robotics and Automation, 2001, 17(3):280-289.
[8] Marhefka D W, Orin D E. Gait planning for energy efficiency in walking machines[C]//IEEE International Conference on Robotics and Automation. Piscataway, USA:IEEE, 1997:474-480.
[9] Farazi H, Ahmadinejad F, Maleki F, et al. Evolutionary approach for developing fast and stable offline humanoid walk[C]//3rd Joint Conference of AI and Robotics. Piscataway, USA:IEEE, 2013:58-63.
[10] Khazenifard A, Bahrami F, Andani M E, et al. An energy efficient gait trajectory planning algorithm for a seven linked biped robot using movement elements[C]//23rd Iranian Conference on Electrical Engineering. Piscataway, USA:IEEE, 2015:1006-1011.
[11] Huang Q, Yang J, Yu Z G, et al. Measurement of human walking and generation of humanoid walking pattern[C]//IEEE International Conference on Robotics and Biomimetics. Piscataway, USA:IEEE, 2007:127-132.
[12] Harada K, Hattori S, Hirukawa H, et al. Two-stage timeparametrized gait planning for humanoid robots[J]. IEEE/ASME Transactions on Mechatronics, 2010, 15(5):694-703.
[13] Wang J, Sun Z J. Design and gait analysis of biped humanoid robot[J]. Machinery & Electronics, 2009(11):57-59.
[14] Chen X C, Huang Q, Yu Z G, et al. Robust push recovery by whole-body dynamics control with extremal accelerations[J]. Robotica, 2013, 32(3):467-476.
[15] Yang J, Huang Q, Peng Z Q, et al. Capturing and analyzing of human motion for designing humanoid motion[C]//2005 International Conference on Information Acquisition. Piscataway, USA:IEEE, 2006:332-337.
