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Variable walking trajectory generation method for biped robots based on redundancy analysis

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Abstract

This paper proposes a variable walking trajectory generation method for biped robots based on redundancy analysis. In designing a bipedal trajectory for locomotion, maintaining locomotion stability without falling down and natural patterns of the locomotion are important. First, the positions and orientations of the feet and body of a robot are chosen as the reference factors, whose trajectories are predetermined. The augmented Jacobian method is used at the acceleration level with differential equation of the reference factors and the ZMP equation to secure stable walking motions. A virtual spring-damper system is implemented as an additional task in the null-space of the augmented Jacobian to make a balanced cyclic configuration of the robot. For a more stable trajectory generation, the condition to avoid kinematic singularity is also used. Computer simulations were conducted for various situations, for example, with locomotion speed changes or an asymmetrical mass distribution, which showed that the proposed trajectory generation method was very effective in generating various walking motions for biped robots.

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Authors and Affiliations

  1. School of Mechanical Engineering, Hanyang University, Seoul, 133-791, Korea

    Je Sung Yeon & Jong Hyeon Park

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  1. Je Sung Yeon
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  2. Jong Hyeon Park
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Correspondence to Jong Hyeon Park.

Additional information

This paper was presented at the ISR-2013, KINTEX, Seoul, Korea, October 24–26, 2013. Recommended by Guest Editor Byung Kyu Kim

Jesung Yeon received the B.S. degree in Mechanical Engineering from Chungbuk National University, Korea, in 2002 and his M.S. and Ph.D. degrees from Hanyang University in 2004 and 2014, respectively. His research interests include biped robots, quadruped robots, industrial robots, and robot dynamics and control.

Jong Hyeon Park (M’96) received the B.S. degree in Mechanical Engineering from Seoul National University, Seoul, Korea, in 1981 and the S.M. and Ph.D. degrees from the Massachusetts Institute of Technology (MIT), Cambridge, in 1983 and 1991, respectively. Since 1992, he has been with the School of Mechanical Engineering at Hanyang University, Seoul, Korea, where he is currently a Professor. His research interests include biped robots, robot dynamics and control, haptics, and bio-robots.

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Yeon, J.S., Park, J.H. Variable walking trajectory generation method for biped robots based on redundancy analysis. J Mech Sci Technol 28, 4397–4405 (2014). https://doi.org/10.1007/s12206-014-1007-4

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  • DOI: https://doi.org/10.1007/s12206-014-1007-4

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