Hostname: page-component-586b7cd67f-dlnhk Total loading time: 0 Render date: 2024-11-25T22:17:07.739Z Has data issue: false hasContentIssue false
  • English
  • Français

Generating efficient rigid biped running gaits with calculated take-off velocities

Published online by Cambridge University Press:  23 August 2010

Q. Guo ,
C. J. B. Macnab  and
J. K. Pieper
Q. Guo
Affiliation:
Schulich School of Engineering, University of Calgary, 2500 University Dr. NW, Calgary, AB, CanadaT2N 1N4
C. J. B. Macnab*
Affiliation:
Schulich School of Engineering, University of Calgary, 2500 University Dr. NW, Calgary, AB, CanadaT2N 1N4
J. K. Pieper
Affiliation:
Schulich School of Engineering, University of Calgary, 2500 University Dr. NW, Calgary, AB, CanadaT2N 1N4
*
*Corresponding author. E-mail: [email protected]
Get access Rights & Permissions [Opens in a new window]

Summary

In this paper, an offline algorithm generates gaits for robotic biped running motion. A minimization procedure on a novel objective function produces initial joint velocities for the flight phase given the initial joint angles. These computed initial velocities ensure a reasonable starting point for the constrained dynamic optimization procedure to try and formulate a gait that minimizes energy consumption. The simulated robot runs even on ground and up stairs. Results demonstrate the rigid robot solution has a intuitively satisfying human-like motion with an energy consumption that appears reasonable for a rigid robot.

Keywords

Running robotsBiped runningBiped robotsMultibody dynamicsDynamic optimization
Type
Articles
Information
Robotica , Volume 29 , Issue 4 , July 2011 , pp. 627 - 640
Copyright
Copyright © Cambridge University Press 2010

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1.Fujimoto, Y., ‘Trajectory Generation of Biped Running Robot with Minimum Energy Consumption,’ Proceedings of IEEE International Conferance on Robotics and Automatation, New Orleans, LA (2004) pp. 3803–3808.Google Scholar
2.Srinivasan, M. and Ruina, A., ‘Computer optimization of a minimal biped model discovers walking and running,’ Nature (439), 72–75 (2006).CrossRefGoogle Scholar
3.Raibert, M., ‘Running with symmetry,’ Int. J. Robot. Res. 5 (4), 3–19 (1986).CrossRefGoogle Scholar
4.Alexander, R. M., ‘Walking and running,’ Math. Gaz. 80 (488), 262–266 (1996).Google Scholar
5.Geyer, H., Seyfarth, A. and Blickhan, R., ‘Compliant leg behaviour explains basic dynamics of walking and running,’ Proc. R. Soc. Lond. Ser. B: Biol. Sci. 273 (1603), 2861–2867 (2006).Google Scholar
6.Cavagna, G., Thys, H. and Zamboni, A., ‘The sources of external work in level walking and running,’ J. Physiol. 262 (3), 639–657 (1976).CrossRefGoogle ScholarPubMed
7.Collins, S., Ruina, A., Tedrake, R. and Wisse, M., ‘Efficient bipedal robots based on passive-dynamic walkers,’ Science 307 (5712), 1082–1085 (2005).Google Scholar
8.Gregorio, P., Ahmadi, M. and Buehler, M., ‘Design, control and energetics of an electrically actuated legged robot,’ 27, 626–634 (1997).Google Scholar
9.Ahmadi, M. and Buehler, M., ‘The ARL Monopod II Running Robot: Control and Energetics,’ IEEE International Conferance on Robotics and Automatation, Detroit, MI (1999) pp. 1689–1694.Google Scholar
10.Hyon, S., Emura, T. and Mita, T., ‘Dynamics-based control of a one-legged hopping robot,’ J. Syst. Control Eng. 217 (2), 83–98 (2003).Google Scholar
11.Vermeulen, J., Trajectory Generation for Planar Hopping and Walking Robots: An Objective Parameter and Angular Momentum Approach Ph.D. Dissertation (Brussels, Belgium: Vrije Universiteit, 2004).Google Scholar
12.Iida, F., Rummel, J. and Seyfarth, A., ‘Bipedal Walking and Running with Compliant Legs,’ Proceedings of IEEE Internatioanl Conferance Robotics and Automattion, Roma, Italy (2007) pp. 3971–3975.Google Scholar
13.Nagasaki, T., Kajita, S., Yokoi, K., Kaneko, K. and Tanie, K., ‘Running Pattern Generation and its Evaluation Using a Realistic Humanoid Model,’ Proceedings of IEEE International Conferance on Robotics and Automation, Taipei, Taiwan (2003) pp. 1336–1342.Google Scholar
14.Kajita, S., Kaneko, K., Morisawa, M., Nakaoka, S. and Hirukawa, H., ‘Running Pattern Generation and its Evaluation Using a Realistic Humanoid model,’ Proceedings of IEEE International Conferance on Robotics and Automation, Roma, Italy (2007) pp. 3963–3969.Google Scholar
15.Morris, B., Westervelt, E., Chevallereau, C., Buche, G. and Grizzle, J., ‘Passive bipedal walking with phasic muscle contraction,’ Biol. Cybern. 81 (3), 227–237 (1999).Google Scholar
16.Meghdari, A. and Aryanpour, M., ‘Dynamic modeling and analysis of the human jumping process,’ J. Intell. Robot. Syst. 37 (1), 97–115 (2003).CrossRefGoogle Scholar
17.Guo, Q., Macnab, C. and Pieper, J., ‘Hopping on even ground and up stairs with a single articulated leg,’ J. Intell. Robot. Syst. 53 (4), 331–358 (2008).Google Scholar
18.Hirai, K., Hirose, M., Haikawa, Y. and Takenaka, T., ‘The Development of Honda Humanoid Robot,’ Proceedings of IEEE International Conferance on Robotics and Automation, Leuven, Belgium (1998), 1321–1326.Google Scholar
19.Collins, S., Wisse, M. and Ruina, A., ‘A three-dimensional passive-dynamic walking robot with two legs and knees,’ Int. J. Robot. Res. 20 (2), 607–615 (2001).CrossRefGoogle Scholar
20.Popovic, M., Goswami, A. and Herr, H., ‘Ground reference points in legged locomotion: Definitions, biological trajectories and control implications,’ Int. J. Robot. Res. 24 (12), 1013–1032 (2005).Google Scholar
21.Becerra, V., ‘Solving optimal control problems with state constraints using nonlinear programming and simulation tools,’ IEEE Trans. Educ. 4 (3), 377–384 (2004).CrossRefGoogle Scholar
22.Roberts, T., Kram, R., Weyand, P. and Taylo, R., ‘Energetics of bipedal running, Part I. Metabolic cost of generating force,’ J. Exp. Bio. 201, 2745–2751 (1998).CrossRefGoogle Scholar
23.Kondak, K. and Hommel, G., ‘Control of Online Computation of Stable Movement for Biped Robots,’ Proceedings of IEEE/RSJ Interantional Conferance on Intelligent Robots and Systems, Las Vegas, NV (2003) 874–879.Google Scholar
24.Westervelt, E., ‘Toward a Coherent Framework for the Control of Planar Biped Locomotion Ph.D. Dissertation (Ann Arbor, MI: University of Michigan, 2003).Google Scholar