Abstract
The generation of stable, efficient and versatile walking motions for humanoid robots is still an open field of research. Several approaches have been implemented on humanoids in the past years, but so far none has led to a walking performance that is anywhere close to humans. This may be caused by limitations of the robotic hardware, but we claim that it is also due to the methods chosen for motion generation which do not fully exploit the capabilities of the hardware. Often, several characteristics of the gait, such as foot placement or step time, are fixed in advance in a suboptimal way for the robot. In this paper we discuss the potential of our optimal control techniques based on dynamical models of the humanoid robot for the generation of improved walking motions. We apply the method to a 3D dynamic model of the humanoid robot HRP-2 with 36 DOF and 30 actuators. Robot specific stability constraints (such as ZMP constraints) can be taken into account in the optimization. We present results for five different objective functions, and evaluate the influence of free foot placement and a relaxation of ZMP constraints.
Access provided by Autonomous University of Puebla. Download to read the full chapter text
Chapter PDF
Similar content being viewed by others
References
Bessonnet, G., Chessé, S., Sardain, P.: Optimal gait synthesis of a seven-link planar biped. The International Journal of Robotics Research 23, 1059–1073 (2004)
Bock, H., Plitt, K.: A multiple shooting algorithm for direct solution of optimal control problems. In: Proceedings of the 9th IFAC World Congress, Budapest, pp. 243–247. Pergamon Press (1984)
Buss, M., Hardt, M., Kiener, J., Sobotka, M., Stelzer, M., von Stryk, O., Wollherr, D.: Towards an autonomous, humanoid, and dynamically walking robot: Modeling, optimal trajectory plannung, hardware architecture and experiments. In: Proceedings of the 3rd International Conference on Humanoid Robots (2003)
Garcia, M., Chatterjee, A., Ruina, A.: Efficiency, speed, and scaling of 2d passive dynamic walking. Dynamics and Stability of Systems (1998)
Hardt, M., Kreutz-Delgado, K., Helton, J.W.: Optimal biped walking with a complete dynamical model. In: Proceedings of the 38th Conference on Decision & Control (1999)
Yamaguchi, J., Soga, E., Inoue, S., Takanishi, A.: Developement of a bipedal humanoid robot - control method of whole body cooperative dynamic biped walking. In: Proceedings of the 1999 IEEE International Conference on Robotics & Automation (1999)
Kajita, S., Kanehiro, F., Kaneko, K., Fujiwara, K., Harada, K., Yokoi, K., Hirukawa, H.: Biped walking pattern generation by using preview control of zero-moment point. In: Proceedings of the 2003 IEEE International Conference on Robotics & Automation (2003)
Kajita, S., Kanehiro, F., Kaneko, K., Yokoi, K., Hirukawa, H.: The 3D linear inverted pendulum mode: a simple modeling for a biped walking pattern generation. In: Proceedings of the 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems (2001)
Kajita, S., Nagasaki, T., Kaneko, K., Hirukawa, H.: ZMP-based biped running control. IEEE Robotics and Automation Magazine 07, 63–73 (2007)
Kajita, S., Tani, K.: Study of dynamic biped locomotion on rugged terrain-theory and basic experiment. In: ‘Robots in Unstructured Environments’, 1991 ICAR, Fifth International Conference on Advanced Robotics, vol. 1, pp. 741–746 (1991)
Kaneko, K., Kanehiro, F., Kajita, S., Hirukawaa, H., Kawasaki, T., Hirata, M., Akachi, K., Isozumi, T.: Humanoid robot HRP-2. In: Proceedings of the IEEE International Conference on Robotics & Automation (2004)
Koch, K.H., Mombaur, K., Soueres, P.: Optimization-based walking generation for humanoid robot. Accepted for SYROCO, Dubrovnic, Croatia (2012)
Leineweber, D., Bauer, I., Bock, H., Schlöder, J.: An efficient multiple shooting based reduced SQP strategy for large-scale dynamic process optimization - Part I: theoretical aspects, pp. 157–166 (2003)
Saab, L., Ramos, O., Mansard, N., Souères, P., Fourquet, J.Y.: Generic dynamic motion generation with multiple unilateral constraints. In: IEEE International Conference on Intelligent Robots and Systems (2011)
McNeill, A.R.: Principles of Animal Locomotion. Princeton University Press (2006)
Mombaur, K.: Using optimization to create self-stable human-like running. Robotica 27, 321–330 (2009); published online June 2008
Mombaur, K.D., Bock, H.G., Schlöder, J.P., Longman, R.W.: Human-like actuated walking that is asymptotically stable without feedback. In: Proceedings of IEEE International Conference on Robotics and Automation, Seoul, Korea, pp. 4128–4133 (May 2001)
Mombaur, K.D., Bock, H.G., Schlöder, J.P., Longman, R.W.: Self-stabilizing somersaults. IEEE Transactions on Robotics 21(6) (December 2005)
Morisawa, M., Kajita, S., Kaneko, K., Harada, K., Kanehiro, F., Fujiwara, K., Hirukawa, H.: Pattern generation of biped walking constrained on parametric surface. In: Proceedings of the 2005 IEEE International Conference on Robotics and Automation, Barcelona, Spain (2005)
Ramos, O., Saab, L., Hak, S., Mansard, N.: Dynamic motion capture and edition using a stack of tasks. In: IEEE Humanoids Proceedings, Bled, Slovenia (October 2011)
Roussel, L., de Wit, C.C., Goswami, A.: Generation of energy optimal complete gait cycles for biped robots. In: Proceedings IEEE International Conference on Robotics and Automation (1998)
Schultz, G., Mombaur, K.D.: Modeling and optimal control of human-like running. IEEE/ASME Transactions on Mechatronics 15, 783–792 (2010)
Takenaka, T.: The control system for the honda humanoid robot. Age and Ageing 35-S2, 24–26 (2006)
Takenaka, T., Matsumoto, T., Yoshiike, T.: Real time motion generation and control for biped robot - 1st report: Walking gait pattern generation. In: Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (2009)
Vukobratovic, M., Stephanenko, J.: On the stability of anthromomorphic systems. Mathematical Biosciences 15, 1–37 (1972)
Wieber, P.B., Billet, F., Boissieux, L., Pissard-Gibollet, R.: The HuMAnS toolbox, a homogenous framework for motion capture, analysis and simulation. In: Internal Symposium on the 3D Analysis of Human Movement (2006)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2012 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Koch, K.H., Mombaur, K.D., Souères, P. (2012). Studying the Effect of Different Optimization Criteria on Humanoid Walking Motions. In: Noda, I., Ando, N., Brugali, D., Kuffner, J.J. (eds) Simulation, Modeling, and Programming for Autonomous Robots. SIMPAR 2012. Lecture Notes in Computer Science(), vol 7628. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-34327-8_22
Download citation
DOI: https://doi.org/10.1007/978-3-642-34327-8_22
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-34326-1
Online ISBN: 978-3-642-34327-8
eBook Packages: Computer ScienceComputer Science (R0)