Abstract
Today’s bipedal robots still cannot compete with humans regarding efficiency, velocity, and robustness of locomotion. Thus, this paper suggests a control concept for dynamic walking based on insights into human motion control. Key features include exploitation of passive dynamics, hierarchical control, and reflexes, while not requiring a full dynamical model.Walking stability is achieved by a set of postural reflexes based on the motion of the extrapolated center of mass. It shows that only a small number of joints must be simultaneously actively actuated during the different phases of walking. Besides the control concept, the anthropomorphic biped model and its properties like compliant actuation are presented as they prove to be essential for the walking performance. Specifically, the approach requires non self-locking and torque-controllable joints with parallel elasticity and low friction, similar to the human muscle-tendon system. The approach is validated for 3D dynamic walking within a physical simulation framework. Results show an efficient, fluent, and fast gait that can cope with considerable disturbances. The resulting joint trajectories show significant resemblance to human walking data.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Bernstein, N.: The co-ordination and regulation of movements. Pergamon (1967)
Bizzi, E., Cheung, V., d’Avella, A., Saltiel, P., Tresch, M.: Combining modules for movement. Brain Research Reviews 57 (2007)
Blank, S., Wahl, T., Luksch, T., Berns, K.: Biologically inspired compliant control of a monopod designed for highly dynamic applications. In: Proc. of IEEE Int. Conf. on Intelligent Robots and Systems (2009)
Blickhan, R., Seyfarth, A., Geyer, H., Grimmer, S., Wagner, H., Günther, M.: Intelligence by mechanics. Philosophical Transactions of the Royal Society of London, Series A 365 (2007)
Collins, S., Ruina, A., Tedrake, R., Wisse, M.: Efficient bipedal robots based on passive-dynamic walkers. Science 307 (2005)
Endo, G., Nakanishi, J., Morimoto, J., Cheng, G.: Experimental studies of a neural oscillator for biped locomotion with QRIO. In: Proc. of IEEE Int. Conf. on Robotics and Automation (2005)
Fischer, M., Blickhan, R.: The tri-segmented limbs of therian mammals: kinematics, dynamics, and self-stabilization - a review. Journal of Experimental Zoology Part A: Comparative Experimental Biology 305A(11) (2006)
Hof, A.: The ‘extrapolated center of mass’ concept suggests a simple control of balance in walking. Human Movement Science 27(1) (2008)
Horak, F.B.: Postural orientation and equilibrium: what do we need to know about neural control of balance to prevent falls? Age and Ageing 35-S2 (2006)
Ivanenko, Y.P., Poppele, R.E., Lacquaniti, F.: Motor control programs and walking. The Neuroscientist 12(4) (2006)
Kaneko, K., Harada, K., Kanehiro, F., Miyamori, G., Akachi, K.: Humanoid robot HRP-3. In: Proc. of IEEE Int. Conf. on Intelligent Robots and Systems (2008)
Kim, J., Park, I., Oh, J.: Walking control algorithm of biped humanoid robot on uneven and inclined floor. Journal of Intelligent and Robotic Systems 48(4) (2007)
Luksch, T.: Human-like Control of Dynamically Walking Bipedal Robots. RRLab Dissertations. Verlag Dr. Hut (2010)
Luksch, T., Berns, K.: Controlling dynamic motions of biped robots with reflexes and motor patterns. In: Proc. of Int. Symposium on Adaptive Motion of Animals and Machines (2008)
Luksch, T., Berns, K.: Initiating normal walking of a dynamic biped with a biologically motivated control. In: Proc. of Int. Conf. on Climbing and Walking Robots (2008)
Luksch, T., Berns, K., Mombaur, K., Schultz, G.: Using optimization techniques for the design and control of fast bipeds. In: Proc. of Int. Conf. on Climbing and Walking Robots (2007)
Manoonpong, P., Geng, T., Porr, B., Wörgötter, F.: The RunBot architecture for adaptive, fast, dynamic walking. In: Proc. of IEEE Symposium on Circuits and Systems (2007)
Pratt, J.: Exploiting inherent robustness and natural dynamics in the control of bipedal walking robots. PhD thesis. MIT Press, Cambridge (2000)
Proetzsch, M., Luksch, T., Berns, K.: Development of complex robotic systems using the behavior-based control architecture iB2C. Robotics and Autonomous Systems 58(1) (2010)
Rossignol, S., Dubuc, R., Gossard, J.P.: Dynamic sensorimotor interactions in locomotion. Physiological Reviews 86 (2006)
Takenaka, T., Matsumoto, T., Yoshiike, T., Shirokura, S.: Real time motion generation and control for biped robot. In: Proc. of IEEE Int. Conf. on Intelligent Robots and Systems (2009)
Todorov, E.: Optimality principles in sensorimotor control. Nature Neuroscience 7(9) (2004)
Vanderborght, B., Verrelst, B., Ham, R.V., Damme, M.V., Beyl, P., Lefeber, D.: Development of a compliance controller to reduce energy consumption for bipedal robots. Autonomous Robots 24(4) (2008)
Vaughan, C., Davis, B., O’Connor, J.: Dynamics of human gait. Human Kinetics Publishers, Champaign (1992)
Vukobratovic, M., Borovac, B.: Zero-Moment Point - thirty five years of its life. International Journal of Humanoid Robotics 1 (2004)
Witte, H., Hoffmann, H., Hackert, R., Schilling, C., Fischer, M., Preuschoft, H.: Biomimetic robotics should be based on functional morphology. Journal of Anatomy 204(5) (2004)
Zaier, R., Kanda, S.: Adaptive locomotion controller and reflex system for humanoid robots. In: Proc. of IEEE Int. Conf. on Intelligent Robots and Systems (2008)
Zehr, E., Stein, R.B., Komiyama, T.: Function of sural nerve reflexes during human walking. The Journal of Physiology 507(1) (1998)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2013 Springer-Verlag Berlin Heidelberg
About this chapter
Cite this chapter
Luksch, T., Berns, K. (2013). Modeling and Control of Dynamically Walking Bipedal Robots. In: Mombaur, K., Berns, K. (eds) Modeling, Simulation and Optimization of Bipedal Walking. Cognitive Systems Monographs, vol 18. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-36368-9_10
Download citation
DOI: https://doi.org/10.1007/978-3-642-36368-9_10
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-36367-2
Online ISBN: 978-3-642-36368-9
eBook Packages: EngineeringEngineering (R0)