Parametric Omni-directional Gait Planning of Humanoid Robots
ZHANG Jiwen1, LIU Li1,2, LI Changshuo1, CHEN Ken1,2
1. Department of Mechanical Engineering, Tsinghua University, Beijing 100084, China;
2. The State Key Laboratory of Tribology, Tsinghua University, Beijing 100084, China
In order to realize the stable and rapid omni-directional walking gait, and overcome such shortcomings as complexity in multi-rigid-body dynamics model and ignorance of step connections in other omni-directional motion strategies, a general kinematic parametric outline is proposed to describe a single step, and constraints among paces are described based on a newly reported omni-directional vehicle model. An inter-step transition algorithm is generated with these constraints. A standard working condition is also provided to evaluate the quality of omni-directional gait. Dynamics simulation and physical robot experiments prove the validity of the method, as well as the necessity of inter-step transition algorithm.
[1] Kalmár-Nagy T, D'Andrea R, Ganguly P. Near-optimal dynamic trajectory generation and control of an omnidirectional vehicle[J]. Robotics and Autonomous Systems, 2004, 46(1): 47-64. [2] Kamikawa K, Arai T, Inoue K, et al. Omni-directional gait of multi-legged rescue robot[C]//IEEE International Conference on Robotics and Automation. Piscataway, USA: IEEE, 2004: 2171-2176.[3] 夏泽洋, 陈恳, 熊璟, 等.仿人机器人运动规划研究进展[J].高技术通讯, 2007, 17(9):1092-1099.Xia Z Y, Chen K, Xiong J, et al. Advances in research on motion planning for humanoid robots[J]. Chinese High Technology Letters, 2007, 17(9): 1092-1099.[4] Neves C, Ventura R. Survey of semi-passive locomotion methodologies for humanoid robots[C]//15th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Mechanics. Singapore: World Scientific Publishing Company, 2012: 393-400.[5] Kajita S, Kanehiro F, Kaneko K, et al. Biped walking pattern generation by using preview control of zero-moment point[C]//IEEE International Conference on Robotics and Automation. Piscataway, USA: IEEE, 2003: 1620-1626.[6] Harada K, Kajita S, Kaneko K, et al. An analytical method for real-time gait planning for humanoid robot[J]. International Journal of Humanoid Robotics, 2006, 3(1): 1-19. [7] Behnke S. Online trajectory generation for omnidirectional biped walking[C]//IEEE International Conference on Roboticsand Automation. Piscataway, USA: IEEE, 2006: 1597-1603.[8] Graf C, Hartl E, Rofer T, et al. A robust closed-loop gait for the standard platform league humanoid[C]//4th Workshop on Humanoid Soccer Robots. Piscataway, USA: IEEE, 2009: 30-37.[9] Gouaillier D, Collette C, Kilner C. Omni-directional closed-loop walk for NAO[C]//IEEE-RAS International Conference on Humanoid Robots. Piscataway, USA: IEEE, 2010: 448-454.[10] Strom J, Slavov G, Chown E. Omnidirectional walking using ZMP and preview control for the NAO humanoid robot[C]//RoboCup 2009: Robot Soccer World Cup XⅢ. Lecture Notes in Computer Science, vol. 5949. Berlin, Germany: Springer-Verlag, 2010: 378-389.[11] Alcaraz-Jimenez J J, Herrero-Perez D, Martinez-Barbera H. Motion planning for omnidirectional dynamic gait in humanoid soccer robots[J]. Journal of Physical Agents, 2011, 5(1): 25-34.[12] Pratt J, Carff J, Drakunov S, et al. Capture point: A step toward humanoid push recovery[C]//IEEE-RAS International Conference on Humanoid Robots. Piscataway, USA: IEEE, 2006: 200-207.[13] Herdt A, Diedam H, Wieber P B, et al. Online walking motion generation with automatic footstep placement[J]. Advanced Robotics, 2010, 24(5/6): 719-737.[14] Vukobratovic M, Borovac B. Zero-moment point——Thirty five years of its life[J]. International Journal of Humanoid Robotics, 2004, 1(1): 157-173. [15] Wieber P B. Trajectory free linear model predictive control for stable walking in the presence of strong perturbations[C]//6th IEEE-RAS International Conference on Humanoid Robots. Piscataway, USA: IEEE, 2006: 137-142.[16] 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. [17] Hemker T, Stelzer M, van Stryk O. Efficient walking speed optimization of a humanoid robot[J]. International Journal of Robotics Research, 2009, 28(2): 303-314. [18] Kanehiro F, Hirukawa H, Kajita S. OpenHRP: Open architecture humanoid robotics platform[J]. International Journal of Robotics Research, 2004, 23(2): 155-165. [19] OpenHRP Team, Humanoid Research Group. OpenHRP usersmanual——Sample humanoid robot[DB/OL]. (2012-10-15)[2013-10-15]. http://www.openrtp.jp/openhrp3/en/sample_ model.html.[20] Li C S, Zhang J W, Liu L. Team Description Paper for Team TH-MOS[DB/OL]. (2012-3-24)[2013-10-15]. http://www.tzi.de/humanoid/bin/view/Website/Teams2012.