Skip to main content
SpringerLink
Log in

Dynamic Control of Walking Cycle with Initiation Process for Humanoid Robot

  • Published:
Journal of Intelligent and Robotic Systems Aims and scope Submit manuscript

Abstract

This paper focuses on numerical method to solve the dynamic equilibrium of a humanoid robot during the walking cycle with the gait initiation process. It is based on a multi-chain strategy and a dynamic control/command architecture previously developed by Gorce. The strategy is based on correction of the trunk center of mass acceleration and force distribution of the forces exerced by the limbs on the trunk. This latter is performed by mean of a Linear Programming (LP) method. We study the gait initiation process when a subject, initially in quiet erect stance posture, performs a walking cycle. In this paper, we propose to adjust the method for the multiphases (from double support to single support) and multicriteria features of the studied movement. This is done by adapting some specific constraints and criteria in order to ensure the global stability of the humanoid robot along the task execution. For that, we use a Real-Time Criteria and Constraints Adaptation method. Simulation results are presented to demonstrate criteria and constraints influences on the dynamic stability.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Similar content being viewed by others

References

  1. Belenkii, Y. Y., Gurfinkel, E. V., and Paltsev, Y. I.: Element of control of voluntary movements, Biofizika 12 (1967), 135-141.

    Google Scholar 

  2. Bolotin, Y. V.: Energetically optimal gaits of a bipedal walking robot, Mechanics of Solids 19(6) (1984), 44-51.

    Google Scholar 

  3. Brenière, Y., Do, M. C., and Sanchez, J.: A biomechanical study of gait initiation process, J. Biophys. Med. Nucl. 5 (1981), 197-205.

    Google Scholar 

  4. Carlsöö, S.: The initiation of walking, Acta Anat. 65 (1966), 1-9.

    Google Scholar 

  5. Cheng, F. T. and Orin, D. E.: Efficient algorithm for optimal force distribution in multiple chain robotics systems: The compact-dual method, in: IEEE International Conference on Robotics and Automation, Scottdale, USA, 1989, pp. 943-950.

  6. Denavit, J. and Hartenberg, R. S.: A kinematic notation for lower pair mechanisms based on matrices, J. Appl. Mech. 22 (1955), 215-221.

    Google Scholar 

  7. El Hafi, F. and Gorce, P.: Behavioural approach for a bipedal robot stepping motion gait, Robotica 17(5) (1999), 491-501.

    Google Scholar 

  8. El Hafi, F. and Gorce, P.:Walking dynamic control under unknown perturbation, in: IEEE, Int. Conf. on Systems, Man, and Cybernetics, San Diego, California, USA, 1998, pp. 3538-3543.

  9. Espiau, B.: BIP a joint project for the development of an anthropomorphic biped robot, in: '97, Monterey, USA, 1997.

  10. Golden, J. and Zheng, Y.: Gait synthesis for the SD-2 biped robot to climb stairs, Int. J. Robotics Automation 5(4) (1990), 82-88.

    Google Scholar 

  11. Gorce, P., Villard, C., and Fontaine, J. G.: Grasping, coordination and optimal force distribution in multifingered mechanisms, Robotica 12 (1994), 243-251.

    Google Scholar 

  12. Gorce, P., Vanel, O., and Ribreau, C.: Equilibrium study of “human” robot, in: IEEE Int. Conf. Systems, Man and Cybernetics 2, 1995, pp. 1309-1314.

    Google Scholar 

  13. Gorce, P. and Vanel, O.: Behaviour synthesis of the erect stance for a biped control, J. Intelligent Robotic Systems 18(2) (1997), 127-145.

    Google Scholar 

  14. Gorce, P.: Dynamic control of bipeds using postural adjustment strategy, in: IEEE Int. Conf. on Systems, Man and Cybernetics, Orlando, USA, 1998, pp. 453-458.

  15. Gorce, P. and Guihard, M.: Joint impedance pneumatic control for multichains systems, Trans. ASME J. Dynamic Systems, Measurement and Control 121(2) (1999), 293-297.

    Google Scholar 

  16. Gorce, P.: Dynamic postural control method for biped in unknown environment, IEEE Trans. Systems, Man and Cybernetics 29(6) (1999), 616-626.

    Google Scholar 

  17. Gurfinkel, E. V., Lipshits, S., and Popov, K. E.: Postural reactions of the controlled sinusoidal displacement of the supporting platform, Agressologie. 17 (1976), 71-76.

    Google Scholar 

  18. Hashimoto, S.: Humanoïd robots in Waseda university huderly-2 and Wabian, in: IARP First Int. Workshop on Humanoid and Human Friendly Robotics, 1998, pp. 1-20.

  19. Hirai, K.: Current and futur perspective of honda humanoid robot, in: IEEE Int. Conf. on Intelligent Robots and Systems, 1997, pp. 500-508.

  20. Hodgins, J. K.: Simulation of human running, in: IEEE Int. Conf. on Robotics and Automation, 1994, pp. 1320-1325.

  21. Iqbal, K., Hemami, H., and Simon, S.: Stability and control of a frontal four-link biped systems, IEEE Trans. Biomedical En

  22. Jalics, L., Hemami, H., and Clyme, B.: A control strategy for adaptative bipedal locomotion, in: IEEE, Int. Conf. on Robotics and Automation 5, Minneapolis, USA, 1996, pp. 1007-1013.

  23. Levine, W. S., Zajac, F. E., and Zomlefer, M. R.: Ankle controls that produce a maximal vertical jump when other joints are locked, IEEE Trans. Automatic Control 28 (1983), 1008-1016.

    Google Scholar 

  24. Luh, J. Y. S., Walker, M. W., and Paul, R. P.: On-line computational scheme for mechanical manipulators, Trans. ASME, J. Dynamics Systems Measurement, and Control 102 (1980), 69-76.

    Google Scholar 

  25. Miura, H. and Shimoyama, I.: Dynamic walk of a biped, Int. J. Robotics Res. 3(2) (1984), 60-74.

    Google Scholar 

  26. Nakamura, Y., Nagai, K., and Yoshikawa, T.: Dynamics and stability in coordination of multiple robotics mechanisms, Int. J. Robotics Res. 8(2) (1989), 44-61.

    Google Scholar 

  27. Nilsson, J., Thrtensson, A., and Halbertsan, J.: Changes in leg movements and muscle activity with speed of locomotion and mode of progression in humans, Acta Physiol. Scand. (1985), 457-475.

  28. Pandy, G. M. and Berme, N.: A numerical method for simulating the dynamics of human walking, J. Biomechanics 21(12) (1988), 1043-1051.

    Google Scholar 

  29. Sardain, P., Rostani, M., and Bessonet, G.: An anthropomorphic biped robot: dynamic concepts and technological design, IEEE Trans. Systems, Man, Cybernet. 28(6) (1999), 823-838.

    Google Scholar 

  30. Shih, C. L. and Gruver, W.: Control of a biped robot in double support phase, IEEE Trans. Systems, Man and Cybernetics 22(4) (1992), 729-734.

    Google Scholar 

  31. Spägele, T., Kistner, A., and Gollhofer, A.: Modelling, simulation and optimisation of human vertical jump, J. Biomechanics (1999), 521-530.

  32. Special issue: Bipedal locomotion, Autonomous Robots 4 (1997).

  33. Vanel, O. and Gorce, P.: A new approach to dynamic posture control, Robotica 15 (1997), 449-459.

    Google Scholar 

  34. Winter, D. A., Mac Kinnon, C. D., Ruder, G. K., and Wieman, C.: An integrated EMG/biomechanical model of upper balance and posture during human gait, Prog. Brain Research 97, 359-367.

  35. Yamaguchi, J., Inoue, S., Nishino, D., and Takanishi, A.: Development of a bipedal humanoid robot having antagonistic joints and three DOF trunk, in: IEEE Int. Conf. on Intelligent Robots and Systems, 1998, pp. 96-101.

  36. Zheng, Y. and Shen, J.: Gait synthesis for the SD-2 biped robot to climb sloped surface, IEEE Trans. Robotics Automat. 6(1) (1990), 86-96.

    Google Scholar 

Download references

Author information

Authors and Affiliations

  1. U483 INSERM, 9 avenue de la division Leclerc, 94234, Cachan (or 9 quai St Bernard, Université Pierre et Marie Curie, 75252 Paris cedex)

    Philippe Gorce & Farid El Hafi

  2. ETSI Industriales, Universidad Politecnica de Cartagena, Campus muralla del mar, 30203, Cartagena, Spain

    Juan Lopez Coronado

Authors
  1. Philippe Gorce
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Farid El Hafi
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Juan Lopez Coronado
    View author publications

    You can also search for this author in PubMed Google Scholar

Rights and permissions

Reprints and permissions

About this article

Cite this article

Gorce, P., El Hafi, F. & Coronado, J.L. Dynamic Control of Walking Cycle with Initiation Process for Humanoid Robot. Journal of Intelligent and Robotic Systems 31, 321–337 (2001). https://doi.org/10.1023/A:1012079012244

Download citation

  • Issue Date:

  • DOI: https://doi.org/10.1023/A:1012079012244

Search

Navigation