Top

Autonomous Robots

Published in:

26-02-2019

Versatile and robust bipedal walking in unknown environments: real-time collision avoidance and disturbance rejection

Authors: Arne-Christoph Hildebrandt, Robert Wittmann, Felix Sygulla, Daniel Wahrmann, Daniel Rixen, Thomas Buschmann

Published in: Autonomous Robots | Issue 8/2019

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

search-config

AI-assisted search

Off

Abstract

Autonomous navigation in complex environments featuring obstacles, varying ground compositions, and external disturbances requires real-time motion generation and stabilization simultaneously. In this paper, we present and evaluate a strategy for rejection of external disturbances and real-time motion generation in the presence of obstacles and non-flat ground. We propose different solutions for combining the associated algorithms and analyze them in simulations The promising method is validated in experiments with our robot Lola. We found a hierarchical approach to be effective for solving these complex motion generation problems, because it allows us to decompose the problem into sub-problems that can be tackled separately at different levels. This makes the approach suitable for real-time applications and robust against perturbations and errors. Our results show that real-time motion planning and disturbance rejection can be combined to improve the autonomy of legged robots.

previous article Data collection planning with non-zero sensing distance for a budget and curvature constrained unmanned aerial vehicle

next article Improving rover mobility through traction control: simulating rovers on the Moon

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

Available only for authorised users

ASUS Xtion PRO LIVE, see http://www.asus.com/Multimedia/Xtion_PRO_LIVE/.

Note, one arbitrary shaped obstacle may be approximated by \(n_{SSV,i}\) convex SSV objects. Here, we reduce all SSV objects of all \(n_O\) obstacles to 2D polytopes without taking into account their belonging to same obstacles. That way, we get only 2D polytopes representing the total of E.

The following statements are based on the authors’ experience with the IRIS tool, which is available as open source.

Project’s website: https://www.amm.mw.tum.de/en/research/current-projects/humanoid-robots/walkinguneventerrain/. Videos presenting the results: https://youtu.be/RjqAh3Blxng.

Arbulu, M., Kheddar, A., & Yoshida, E. (2010). An approach of generic solution for humanoid stepping over motion. In IEEE-RAS international conference on humanoid robots (pp. 474–479). IEEE.

Buschmann, T. (2010). Simulation and control of biped walking robots. Ph.D. thesis.

Buschmann, T., Favot, V., Lohmeier, S., Schwienbacher, M., & Ulbrich, H. (2011). Experiments in fast biped walking. In IEEE international conference on mechatronics (pp. 863–868).

Buschmann, T., Lohmeier, S., & Ulbrich, H. (2010). Entwurf und Regelung des Humanoiden Laufroboters Lola. at - Automatisierungstechnik, 58(11), 613–621.CrossRef

Chestnutt, J., Michel, P., Nishiwaki, K., Kuffner, J., & Kagami, S. (2006). An intelligent joystick for biped control. In IEEE international conference on robotics and automation (pp. 860–865). IEEE.

Chestnutt, J., & Takaoka, Y. (2010). Safe adjustment regions for legged locomotion paths. In IEEE international conference on humanoid robotics (pp. 224–229).

Chestnutt, J., Takaoka, Y., Suga, K., Nishiwaki, K., Kuffner, J., & Kagami, S. (2009). Biped navigation in rough environments using on-board sensing. In IEEE/RSJ international conference on intelligent robots and systems.

Deits, R., & Tedrake, R. (2014). Footstep planning on uneven terrain with mixed-integer convex optimization. In IEEE-RAS international conference on humanoid robots.

Deits, R., & Tedrake, R. (2015). Computing large convex regions of obstacle-free space through semidefinite programming. In H. L. Akin, N. M. Amato, V. Isler, & A. F. van der Stappen (Eds.), Algorithmic foundations of robotics XI (pp. 109–124). Berlin: Springer.CrossRef

Englsberger, J., & Ott, C. (2012). Integration of vertical COM motion and angular momentum in an extended capture point tracking controller for bipedal walking. In IEEE-RAS international conference on humanoid robots (pp. 183–189).

Fallon, M. F., Marion, P., Deits, R., Whelan, T., Antone, M., Mcdonald, J., & Tedrake, R. (2015). Continuous humanoid locomotion over uneven terrain using stereo fusion. In IEEE/RAS international conference on humanoid robots.

Fujimoto, Y., Obata, S., & Kawamura, A. (1998). Robust biped walking with active interaction control between foot and ground. IEEE International Conference on Robotics and Automation, 3, 2030–2035.CrossRef

Greene, H. (1983). The decomposition of polygons into convex parts. In F. P. Preparata (Ed.), Computational geometry (Vol. 1). Greenwich: JAI Press.

Guan, Y., Yokoi, K., & Tanie, K. (2005). Feasibility: Can humanoid robots overcome given obstacles? In IEEE international conference on robotics and automation (Vol. 1, pp. 1054–1059). IEEE.

Guan, Y., Yokoi, K., & Tanie, K. (2006). Stepping over obstacles with humanoid robots. IEEE Transactions on Robotics, 22(5), 958–973.CrossRef

Gutmann, J. S., Fukuchi, M., & Fujita, M. (2008). 3D perception and environment map generation for humanoid robot navigation. The International Journal of Robotics Research, 27(10), 1117–1134.CrossRef

Hildebrandt, A. C., Demmeler, M., Wittmann, R., Wahrmann, D., Sygulla, F., Rixen, D., & Buschmann, T. (2016). Real-time predictive kinematic evaluation and optimization for biped robots. In IEEE/RSJ international conference on intelligent robots and systems.

Hildebrandt, A. C., Wahrmann, D., Wittmann, R., Rixen, D., & Buschmann, T. (2015). Real-time pattern generation among obstacles for biped robots. In IEEE/RSJ international conference on intelligent robots and systems (pp. 2780–2786).

Hildebrandt, A. C., Wittmann, R., Wahrmann, D., Ewald, A., & Buschmann, T. (2014). Real-time 3D collision avoidance for biped robots. In IEEE/RSJ international conference on intelligent robots and systems (pp. 4184–4190).

Hirai, K., Hirose, M., Haikawa, Y., & Takenaka, T. (1998). The development of Honda humanoid robot. IEEE International Conference on Robotics and Automation, 2, 1321–1326.CrossRef

Hodgins, J., & Raibert, M. (1991). Adjusting step length for rough terrain locomotion. IEEE Transactions on Robotics and Automation, 7(3), 289–298.CrossRef

Karkowski, P., & Bennewitz, M. (2016). Real-time footstep planning using a geometric approach. In IEEE international conference on robotics and automation.

Kuindersma, S., Deits, R., Andr, M. F., Dai, H., Permenter, F., Pat, K., et al. (2015). Optimization-based locomotion planning, estimation and control design for the atlas humanoid robot. Autonomous Robots, 40(3), 1–27.

Kuindersma, S., Permenter, F., & Tedrake, R. (2014). An efficiently solvable quadratic program for stabilizing dynamic locomotion. In IEEE international conference on robotics and automation (pp. 2589–2594).

Liegeois, A. (1977). Automatic supervisory control of the configuration and behavior of multibody mechanisms. IEEE Transactions on Systems, 12, 868–871.MATH

Liu, H., Liu, W., & Latecki, L. J. (2010). Convex shape decomposition. In Proceedings of the IEEE computer society conference on computer vision and pattern recognition (pp. 97–104).

Loffler, K., Gienger, M., & Pfeiffer, F. (2002). Model based control of a biped robot. In 7th international workshop on advanced motion control (pp. 443–448).

Lohmeier, S. (2009). System design and control of anthropomorphic walking robot LOLA. IEEE/ASME Transactions on Mechatronics, 14(6), 658–666.CrossRef

Lohmeier, S., Loffler, K., Gienger, M., Ulbrich, H., & Pfeiffer, F. (2004). Computer system and control of biped “Johnnie”. In IEEE international conference on robotics and automation (pp. 4222–4227). IEEE.

Maier, D., Lutz, C., & Bennewitz, M. (2013). Integrated perception, mapping, and footstep planning for humanoid navigation among 3D obstacles. In IEEE/RSJ international conference on intelligent robots and systems (pp. 2658–2664). IEEE.

Michel, P., & Chestnutt, J. (2007). GPU-accelerated real-time 3D tracking for humanoid locomotion and stair climbing. In IEEE/RSJ international conference on intelligent robots and systems (pp. 463–469). IEEE.

Naveau, M., Kudruss, M., Stasse, O., Kirches, C., Mombaur, K., & Souères, P. (2017). A reactive walking pattern generator based on nonlinear model predictive control. IEEE Robotics and Automation Letters, 2(1), 10–17.CrossRef

Nishiwaki, K. (2011). Online design of torso height trajectories for walking patterns that takes future kinematic limits into consideration. In International conference on control, automation and systems (pp. 2029–2034). IEEE.

Nishiwaki, K., & Kagami, S. (2009a). Frequent walking pattern generation that uses estimated actual posture for robust walking control. In IEEE/RAS international conference on humanoid robots (pp. 535–541).

Nishiwaki, K., & Kagami, S. (2009b). Online walking control system for humanoids with short cycle pattern generation. The International Journal of Robotics Research, 28(6), 729–742.CrossRef

Nocedal, J., & Wright, S. J. (2004). Numerical optimization (pp. 1–651). Berlin: Springer.

Okada, K., Kagami, S., Inaba, M., & Inoue, H. (2001). Plane segment finder: Algorithm, implementation and applications. In IEEE international conference on robotics and automation.

Perrin, N., Stasse, O., Baudouin, L., Lamiraux, F., & Yoshida, E. (2012). Fast humanoid robot collision-free footstep planning using swept volume approximations. IEEE Transactions on Robotics, 28(2), 427–439.CrossRef

Pratt, J., Carff, J., Drakunov, S., & Goswami, A. (2006). Capture point: A step toward humanoid push recovery. In IEEE/RAS international conference on humanoid robots (pp. 200–207).

Rebula, J., Canas, F., Pratt, J., & Goswami, A. (2007). Learning capture points for humanoid push recovery. In IEEE/RAS international conference on humanoid robots (pp. 65–72).

Sabe, K., Fukuchi, M., Gutmann, J. S., Ohashi, T., Kawamoto, K., & Yoshigahara, T. (2004). Obstacle avoidance and path planning for humanoid robots using stereo vision. In IEEE international conference on robotics and automation (pp. 592–597). IEEE.

Sarmiento, A., Murrieta-Cid, R., & Hutchinson, S. (2005). A sample-based convex cover for rapidly finding an object in a 3-D environment. IEEE International Conference on Robotics and Automation, 2005, 3486–3491.

Schwienbacher, M. (2012). Vertical angular momentum minimization for biped robots with kinematically redundant joints. In International congress of theoretical and applied mechanics (pp. 8–9).

Schwienbacher, M., Buschmann, T., Lohmeier, S., Favot, V., & Ulbrich, H. (2011). Self-collision avoidance and angular momentum compensation for a biped humanoid robot. In IEEE international conference on robotics and automation (pp. 581–586).

Sherikov, A., Dimitrov, D., & Wieber, P. B. (2014). Whole body motion controller with long-term balance constraints. In IEEE/RAS international conference on humanoid robots (pp. 444–450).

Stasse, O., Verrelst, B., Vanderborght, B., & Yokoi, K. (2009). Strategies for humanoid robots to dynamically walk over large obstacles. IEEE Transactions on Robotics, 25(4), 960–967.CrossRef

Stumpf, A., Kohlbrecher, S., Conner, D. C., & von Stryk, O. (2014). Supervised footstep planning for humanoid robots in rough terrain tasks using a black box walking controller. In IEEE/RAS international conference on humanoid robots (pp. 287–294).

Tajima, R., Honda, D., & Suga, K. (2009). Fast running experiments involving a humanoid robot. In IEEE international conference on robotics and automation (pp. 1571–1576).

Takenaka, T., Matsumoto, T., Yoshiike, T., Hasegawa, T., Shirokura, S., Kaneko, H., & Orita, A. (2009). Real time motion generation and control for biped robot—4th report: Integrated balance control. In IEEE/RSJ international conference on intelligent robots and systems (pp. 1601–1608).

Urata, J., Nishiwaki, K., Nakanishi, Y., Okada, K., Kagami, S., & Inaba, M. (2011). Online decision of foot placement using singular LQ preview regulation. In IEEE-RAS international conference on humanoid robots (pp. 13–18).

Wahrmann, D., Hildebrandt, A. C., Wittmann, R., Sygulla, F., Rixen, D., & Buschmann, T. (2016). Fast object approximation for real-time 3D obstacle avoidance with biped robots. In IEEE international conference on advanced intelligent mechatronics.

Wahrmann, D., Hildebrandt, A. C., Wittmann, R., Sygulla, F., Seiwald, P., Rixen, D., & Buschmann, T. (2018). Vision-based 3D modeling of unknown dynamic environments for real-time humanoid navigation (preprint, submitted to the international journal of humanoid robotics). International Journal of Humanoid Robotics (in submission).

Whitney, D. (1969). Resolved motion rate control of manipulators and human prostheses. IEEE Transactions on Man Machine Systems, 10(2), 47–53.MathSciNetCrossRef

Wieber, P. B. (2006). Trajectory free linear model predictive control for stable walking in the presence of strong perturbations. In IEEE-RAS international conference on humanoid robots (pp. 137–142).

Wittmann, R., Hildebrandt, A. C., Ewald, A., & Buschmann, T. (2014). An estimation model for footstep modifications of biped robots. In IEEE/RSJ international conference on intelligent robots and systems (pp. 2572–2578).

Wittmann, R., Hildebrandt, A. C., Wahrmann, D., Buschmann, T., & Rixen, D. (2015a). State estimation for biped robots using multibody dynamics. In IEEE/RSJ international conference on intelligent robots and systems (pp. 2166–2172).

Wittmann, R., Hildebrandt, A. C., Wahrmann, D., Rixen, D., & Buschmann, T. (2015b). Real-time nonlinear model predictive footstep optimization for biped robots. In IEEE-RAS international conference on humanoid robots (pp. 711–717).

Wittmann, R., Hildebrandt, A. C., Wahrmann, D., Sygulla, F., Rixen, D., & Buschmann, T. (2016). Model-based predictive bipedal walking stabilization. In IEEE-RAS international conference on humanoid robots.

Title: Versatile and robust bipedal walking in unknown environments: real-time collision avoidance and disturbance rejection
Authors: Arne-Christoph Hildebrandt
Robert Wittmann
Felix Sygulla
Daniel Wahrmann
Daniel Rixen
Thomas Buschmann
Publication date: 26-02-2019
Publisher: Springer US
Published in: Autonomous Robots / Issue 8/2019
Print ISSN: 0929-5593
Electronic ISSN: 1573-7527
DOI: https://doi.org/10.1007/s10514-019-09838-3

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 8/2019

Task-centric optimization of configurations for assistive robots

Motion planning for robot audition

Horizon-based lazy optimal RRT for fast, efficient replanning in dynamic environment

Distributed iterative learning control for multi-agent systems

The impact of load on the wheel rolling radius and slip in a small mobile platform

Localization uncertainty-aware autonomous exploration and mapping with aerial robots using receding horizon path-planning