Top

Microsystem Technologies

Published in:

31-08-2019 | Technical Paper

Bipedal walking with push recovery balance control involves posture correction

Authors: Chih-Cheng Liu, Tsu-Tian Lee, Sheng-Ru Xiao, Yi-Chung Lin, Zhi-Xue Chou, Ching-Chang Wong

Published in: Microsystem Technologies | Issue 4/2021

Activate our intelligent search to find suitable subject content or patents.

search-config

AI-assisted search

Off

Abstract

In this paper, a bipedal walking with push recovery balance control is proposed which involves posture correction of the robot. The biped robot could become unstable when it is under the influence of an external force. The method is proposed to achieve balance under such influence. Specifically, a set of force sensors are used to calculate the zero moment point, while a gyroscope and an accelerometer are used to estimate the inclination angle of the robot. Then, this sensor feedback is used to adjust the standing posture so that the robot can maintain the upright and stable state. Finally, an integral control for the static standing posture correction and a linear inverted pendulum with a flywheel model are developed for dynamic walking balance. The experimental results show that the proposed method enables the biped robot to achieve self-balance.

previous article Hearing-friendly audio signal synthesis system for tinnitus therapy

next article Contamination assessment of insulators using microsystem technology with fuzzy-based approach

Dont have a licence yet? Then find out more about our products and how to get one now:

Springer Professional "Wirtschaft+Technik"

Online-Abonnement

Mit Springer Professional "Wirtschaft+Technik" erhalten Sie Zugriff auf:

über 102.000 Bücher
über 537 Zeitschriften

aus folgenden Fachgebieten:

Automobil + Motoren
Bauwesen + Immobilien
Business IT + Informatik
Elektrotechnik + Elektronik
Energie + Nachhaltigkeit
Finance + Banking
Management + Führung
Marketing + Vertrieb
Maschinenbau + Werkstoffe
Versicherung + Risiko

Jetzt Wissensvorsprung sichern!

inform now

Springer Professional "Technik"

Online-Abonnement

Mit Springer Professional "Technik" erhalten Sie Zugriff auf:

über 67.000 Bücher
über 390 Zeitschriften

aus folgenden Fachgebieten:

Automobil + Motoren
Bauwesen + Immobilien
Business IT + Informatik
Elektrotechnik + Elektronik
Energie + Nachhaltigkeit
Maschinenbau + Werkstoffe

Jetzt Wissensvorsprung sichern!

inform now

Doi M, Hsegawa Y, Fukuda T (2004) Passive trajectory control of the lateral motion in bipedal walking. In: IEEE international conference on robotics and automation, pp 3049–3054. https://doi.org/10.1109/robot.2004.1307525

Erbatur K, Okazaki A, Obiya K et al (2002) A study on the zero moment point measurement for biped walking robots. In: International workshop on advanced motion control, pp 431–436. https://doi.org/10.1109/amc.2002.1026959

Ha I, Tamura Y, Asama H (2011) Gait pattern generation and stabilization for humanoid robot based on coupled oscillators. In: IEEE/RSJ international conference on intelligent robots and systems, pp 3207–3212. https://doi.org/10.1109/iros.2011.6048790

Hyon S, Emura T (2005) Symmetric walking control: Invariance and global stability. In: IEEE international conference on robotics and automation, pp 1443–1450. https://doi.org/10.1109/robot.2005.1570318

Kajita S, Tani K (1991) Study of dynamic biped locomotion on rugged terrain-derivation and application of the linear inverted pendulum mode. In: IEEE international conference on robotics and automation, pp 1405–1411. https://doi.org/10.1109/robot.1991.131811

Kajita S, Kanehiro F, Kaneko K et al (2001) The 3D linear inverted pendulum mode: a simple modeling for a biped walking pattern generation. In: IEEE/RSJ international conference on intelligent robots and systems, pp 239–246. https://doi.org/10.1109/iros.2001.973365

Kajita S, Kanehiro F, Kaneko K et al (2003) Biped walking pattern generation by using preview control of zero-moment point. In: IEEE international conference on robotics and automation, pp 1620–1626. https://doi.org/10.1109/robot.2003.1241826

Kajita S, Morisawa M, Miura K et al (2010) Biped walking stabilization based on linear inverted pendulum tracking. In: IEEE/RSJ international conference on intelligent robots and systems, pp 4489–4496. https://doi.org/10.1109/iros.2010.5651082

Nagasaka K, Kuroki Y, Suzuki S et al (2004) Integrated motion control for walking, jumping and running on a small bipedal entertainment robot. In: IEEE international conference on robotics and automation, pp 3189–3194. https://doi.org/10.1109/robot.2004.1308745

Nishiwaki K, Kagami S, Kuniyoshi Y et al (2002) Online generation of humanoid walking motion based on a fast generation method of motion pattern that follows desired ZMP. In: IEEE/RSJ international conference on intelligent robots and systems, pp 2684–2689. https://doi.org/10.1109/IRDS.2002.1041675

Perry J, (1992) Gait analysis: normal and pathological function, CA, Rancho Los Amigos Medical Center. https://doi.org/10.1001/jama.1992.03490220101046

Su YT, Chong KY, Li THS (2011) Design and implementation of fuzzy policy gradient gait learning method for walking pattern generation of humanoid robots. Int J Fuzzy Syst 13:369–382. https://doi.org/10.30000/IJFS.201112.0015CrossRef

Sugihara T, Nakamura Y (2005) A fast online gait planning with boundary condition relaxation for humanoid robots. In: IEEE international conference on robotics and automation, pp 305–310. https://doi.org/10.1109/robot.2005.1570136

Sugihara T, Nakamura Y, Inoue H (2002) Real-time humanoid motion generation through ZMP manipulation based on inverted pendulum control. In: IEEE international conference on robotics and automation, pp 1404–1409. https://doi.org/10.1109/robot.2002.1014740

Vukobratović M, Juricić D (1968) Contribution to the synthesis of biped gait. IFAC Proc Vol 2:469–478. https://doi.org/10.1016/S1474-6670(17)68891-8CrossRef

Vukobratović M, Stepanenko J (1972) On the stability of anthropomorphic systems. Math Biosci 15:1–37. https://doi.org/10.1016/0025-5564(72)90061-2CrossRefMATH

Westervelt ER, Buche G, Grizzle JW (2004) Experimental validation of a framework for the design of controllers that induce stable walking in planar bipeds. Int Robot Res 23:559–582. https://doi.org/10.1177/0278364904044410CrossRef

Yang W, Kim H, You BJ (2013) Biologically inspired self-stabilizing control for bipedal robots. Int J Adv Rob Syst 10:1–12. https://doi.org/10.5772/55463CrossRef

Title: Bipedal walking with push recovery balance control involves posture correction
Authors: Chih-Cheng Liu
Tsu-Tian Lee
Sheng-Ru Xiao
Yi-Chung Lin
Zhi-Xue Chou
Ching-Chang Wong
Publication date: 31-08-2019
Publisher: Springer Berlin Heidelberg
Published in: Microsystem Technologies / Issue 4/2021
Print ISSN: 0946-7076
Electronic ISSN: 1432-1858
DOI: https://doi.org/10.1007/s00542-019-04532-x

Springer Professional

Abstract

Please log in to get access to your license.

Dont have a licence yet? Then find out more about our products and how to get one now:

Springer Professional "Wirtschaft+Technik"

Springer Professional "Technik"

Other articles of this Issue 4/2021

Research on motion recognition algorithm based on bag-of-words model

Planning and assessment system for light rail transit construction in Taiwan

Effects of synthesis temperature on the microstructures and photoluminescent properties of Eu2O3-doped Sr2−xBaxSiO4 phosphors

F-model generated by function S-rough sets

Smart remote-controller designed with combining speech-recognition microprocessor and wireless sensor networks

Analysis of functional brain network based on electroencephalography and complex network