Skip to main content
SpringerLink
Log in

Energy-efficient yaw moment control for humanoid robot utilizing arms swing

  • Published:
International Journal of Precision Engineering and Manufacturing Aims and scope Submit manuscript

Abstract

Due to the fact that the undesired yaw moment is inevitably generated during humanoid robot walks, it is thus impossible to ignore its existence to achieve the excellent dynamic balance. In this paper, the problem of yaw moment control for humanoid robot is investigated. First we analyze the the moment equilibrium conditions of yaw axis and formulate a constrained dynamic model of arms swing. To counteract the unexpected yaw moment with the consideration of energy efficiency and physical constraints, a novel armsswing- based approach is proposed. Moreover, one online QP solver is adopted to deal with the optimization problem with both inequality and equality constraints, which is examined to alleviate the burdensome energy consumption. Finally, simulation results verify the effectiveness of the proposed method.

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. Kajita, S., Kanehiro, F., Kaneko, K., Fujiwara, K., Harada, K., et al., “Biped Walking Pattern Generation by using Preview Control of Zero-Moment Point,” Proc. of IEEE International Conference on Robotics and Automation, Vol. 2, pp. 1620–1626, 2003.

    Google Scholar 

  2. Yang, L., Xijia, S., and Deng, C., “Opposition-based Learning Particle Swarm Optimization of Running Gait for Humanoid Robot,” International Journal on Smart Sensing & Intelligent Systems, Vol. 8, No. 2, pp. 1162–1179, 2015.

    Google Scholar 

  3. Nishiwaki, K. and Kagami, S., “Online Walking Control System for Humanoids with Short Cycle Pattern Generation,” The International Journal of Robotics Research, Vol. 28, No. 6, pp. 729–742, 2009.

    Article  Google Scholar 

  4. Alcaraz-Jiménez, J. J., Herrero-Pérez, D., and Martínez-Barberá, H., “Robust Feedback Control of ZMP-based Gait for the Humanoid Robot Nao,” The International Journal of Robotics Research, Vol. 32, No. 9-10, pp. 1074–1088, 2013.

    Article  Google Scholar 

  5. Shin, H.-K. and Kim, B.K., “Energy-Efficient Gait Planning and Control for Biped Robots Utilizing the Allowable ZMP Region,” IEEE Transactions on Robotics, Vol. 30, No. 4, pp. 986–993, 2014.

    Article  Google Scholar 

  6. Bessonnet, G., Seguin, P., and Sardain, P., “A Parametric Optimization Approach to Walking Pattern Synthesis,” The International Journal of Robotics Research, Vol. 24, No. 7, pp. 523–536, 2005.

    Article  Google Scholar 

  7. Erbatur, K. and Kurt, O., “Natural ZMP Trajectories for Biped Robot Reference Generation,” IEEE Transactions on Industrial Electronics, Vol. 56, No. 3, pp. 835–845, 2009.

    Article  Google Scholar 

  8. Vukobratoviæ, M. and Borovac, B., “Zero-Moment Point-Thirty Five Years of Its Life,” International Journal of Humanoid Robotics, Vol. 1, No. 1, pp. 157–173, 2004.

    Article  Google Scholar 

  9. Vukobratovic, M., Borovac, B., and Potkonjak, V., “ZMP: A Review of Some Basic Misunderstandings,” International Journal of Humanoid Robotics, Vol. 3, No. 2, pp. 153–175, 2006.

    Article  Google Scholar 

  10. Hirabayashi, T., Ugurlu, B., Kawamura, A., and Zhu, C., “Yaw Moment Compensation of Biped Fast Walking using 3D Inverted Pendulum,” Proc. of 10th IEEE International Workshop on Advanced Motion Control, pp. 296–300, 2008.

    Google Scholar 

  11. Yu, W., Bao, G., Wang, Z., and Wu, W., “Fast Walking Pattern Generation for Humanoid Robot using Waist Joint Moment Compensation,” Robot, Vol. 32, No. 2, pp. 219–225, 2010.

    Article  Google Scholar 

  12. Ugurlu, B., Saglia, J. A., Tsagarakis, N. G., and Caldwell, D. G., “Yaw Moment Compensation for Bipedal Robots Via Intrinsic Angular Momentum Constraint,” International Journal of Humanoid Robotics, Vol. 9, No. 4, Paper No. 1250033, 2012.

    Article  Google Scholar 

  13. Yang, L., Fu, Y., and He, H.-W., “Yaw Moment Control Method for Humanoid Robot based on Leg Joints Control,” Control and Decision, Vol. 31, No. 1, pp. 79–83, 2016.

    MATH  Google Scholar 

  14. Park, J., “Synthesis of Natural Arm Swing Motion in Human Bipedal Walking,” Journal of Biomechanics, Vol. 41, No. 7, pp. 1417–1426, 2008.

    Article  Google Scholar 

  15. Xing, D. and Su, J., “Arm/Trunk Motion Generation for Humanoid Robot,” Science China Information Sciences, Vol. 53, No. 8, pp. 1603–1612, 2010.

    Article  Google Scholar 

  16. Fu, G., Chen, J., and Yang, Y., “A Yaw Moment Counteracting Method for Humanoid Robot based on Arms Swinging,” Jiqiren (Robot), Vol. 34, No. 4, pp. 498–504, 2012.

    Google Scholar 

  17. Xia, Y. and Wang, J., “A Recurrent Neural Network for Solving Linear Projection Equations,” Neural Networks, Vol. 13, No. 3, pp. 337–350, 2000.

    Article  Google Scholar 

  18. Zhang, Y., Ge, S. S., and Lee, T. H., “A Unified Quadratic-Programming-based Dynamical System Approach to Joint Torque Optimization of Physically Constrained Redundant Manipulators,” IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics), Vol. 34, No. 5, pp. 2126–2132, 2004.

    Article  Google Scholar 

  19. He, B., Liao, L.-Z., and Wang, X., “Proximal-Like Contraction Methods for Monotone Variational Inequalities in a Unified Framework I: Effective Quadruplet and Primary Methods,” Computational Optimization and Applications, Vol. 51, No. 2, pp. 649–679, 2012.

    Article  MathSciNet  MATH  Google Scholar 

  20. He, B., “A New Method for a Class of Linear Variational Inequalities,” Mathematical Programming, Vol. 66, No. 1-3, pp. 137–144, 1994.

    Article  MathSciNet  MATH  Google Scholar 

  21. Liu, Z., Wang, L., Chen, C. P., Zeng, X., Zhang, Y., and Wang, Y., “Energy-Efficiency-based Gait Control System Architecture and Algorithm for Biped Robots,” IEEE Transactions on Systems, Man, and Cybernetics, Part C (Applications and Reviews), Vol. 42, No. 6, pp. 926–933, 2012.

    Article  Google Scholar 

Download references

Author information

Authors and Affiliations

  1. School of Automation, Guangdong University of Technology, Guangzhou, Guangdong, 510-006, China

    Liang Yang, Zhi Liu & Yun Zhang

  2. School of Computer Engineering, University of Electronic Science and Technology Zhongshan Institute, Zhongshan, Guangdong, 528-402, China

    Liang Yang

Authors
  1. Liang Yang
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Zhi Liu
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Yun Zhang
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Zhi Liu.

Rights and permissions

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Yang, L., Liu, Z. & Zhang, Y. Energy-efficient yaw moment control for humanoid robot utilizing arms swing. Int. J. Precis. Eng. Manuf. 17, 1121–1128 (2016). https://doi.org/10.1007/s12541-016-0136-3

Download citation

  • Received:

  • Revised:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s12541-016-0136-3

Keywords

Search

Navigation