Abstract
In this paper, dynamically balanced gait generation problem of a 7-DOF two-legged robot moving up and down through the sloping surface is presented. The gait of the lower links during locomotion is obtained after assuming suitable trajectories for the swing leg and hip joint. The trunk motion is initially generated based on the concept of static balance, which is different from the well-known semi-inverse method and then checked for its dynamic balance calculated using the concept of Zero-Moment Point (ZMP). Lagrange–Euler formulation is attempted for the determination of joint torques. Average power consumption at each joint is then determined based on the computed torques. Moreover, the variations of dynamic balance margin and average power consumption are studied for both ascending and descending through the sloping surface. Both of them are found to be more for the ascending gait generation compared to those for the descending case. The effects of variations of the slope have also been studied on the average dynamic balance margin and power consumption for both the cases.
Article PDF
Similar content being viewed by others
Avoid common mistakes on your manuscript.
References
Boone, G N, Hodgins, J K 1997 Slipping and tripping reflexes for bipedal robots, Autonomous Robots, 4: 259–271
Fu, K S, Gonzalez, R C, Lee, C S G 1987 ROBOTICS Control, Sensing, Vision, and Intelligence, McGraw-Hill International Edition, Industrial Engineering series
Furusho, J, Masubuchi, M 1987 A theoretically motivated reduced order model for the control of Dynamic biped locomotion, Transactions of the ASME J. of Dynamic Systems, Measurement and Control, 109: 155–163
Goswami, A 1999 Foot rotation indicator (FRI) Point: A new gait planning tool to evaluate postural stability of biped robots, in Proc. of IEEE Int. Conf. on Robotics and Automation, Detroit, Michigan, pp. 47–52
Juricic, D, Vukobratovic, M 1972 Mathematical modeling of biped walking systems, ASME Publication, 72-WA/BHF13
Kajita, S, Kanehiro, F, Kaneko, K, Fujiwara, K, Harada, K, Yokoi, K, Hirukawa, H 2003 Biped walking pattern generation by using preview control of zero-moment point, in Proc. of IEEE Int. Conf. on Robotics and Automation, Taipei, Taiwan, Sept 14-19, pp. 1620–1626
Kajita, S, Tani, K 1991 Study of dynamic biped locomotion on rugged terrain- derivation and application of the linear inverted pendulum mode, in Proc. of IEEE Int. Conf. on Robotics and Automation, Sacramento, California, pp. 1405–1411
Kim, J Y, Park, I W, lee, J, Kim, M S, Cho, B K, Oh, J H 2005 System design and dynamically walking of humanoid robot KHR-2, in Proc. of IEEE Int. Conf. on Robotics and Automation, Barcelone, Spain, pp. 1443–1448
Kim, J Y, Park, I W, Oh, J H 2007 Walking control algorithm of biped humanoid robot on uneven and inclined floor, J. of Int. Robot Syst., 48: 457–484
Lim, H, Kaneshima, Y, Takanishi, A 2002 On line walking pattern generation for biped humanoid robot with trunk, in Proc. of IEEE Int. Conf. on Robotics and Automation, Washington, DC, pp. 3111–3116
Lum, H K, Zribi, M, Soh, Y C 1999 Planning and control of a biped robot”, Int. J. of Engineering Sciences, 37: 1319–1349
Ono, T, Murakami, T, Ohnishi, K 1998 An approach to biped robot control according to surface condition of ground, IEEE Int. workshop on Advanced Motion Control, Coimbra, Jun 29–Jul 1, pp. 129–134
Pleaten, F, Jessy, W G, Westervelt, R, Gabrial, A 2003 Stable walking of a 7-DOF biped robot, IEEE Transactions on Robotics and Automation, 19(4): 653–668
Pratt, J, Chew, C M, Torres, A, Dilworth, P, Pratt, G 2001 Virtual model control: An intuitive approach for bipedal locomotion, Int. J. of Robotics Research, 20(2): 129–143
Seo, Y J, Yoon, Y S 1995 Design of a robust dynamic gait of the biped using the concept of dynamic stability margin”, Robotica, 13, Cambridge University press, pp. 461–468
Silva, F M, Tenreiro Machado, J A 1998 Towards efficient biped robots, in Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Victoria, B.C., Canada, pp. 394–399
Sugahara, Y, Mikuriya, Y, Hashimoto, K, Hosobata, T, Sunazuka, H, Kawase, M 2005 Walking control method of biped locomotors on inclined plane, in Proc. of IEEE Int. Conf. on Robotics and Automation, Barcelona, Spain, pp. 1977–1982
Sugihara, T, Nakamura, Y, Inoue, H 2002 Real time humanoid motion generation through ZMP manipulation based on inverted pendulum control, in Proc. of IEEE Int. Conf. on Robotics and Automation, Washington, DC, pp. 1404–1409
Takanishi, A, Tochizawa, M, Karaki, H, Kato, I 1989 Dynamic biped walking stabilized with optimal trunk and waist motion, IEEE/RSJ International Workshop on Intelligent Robots and Systems’89, Tsukuba, Japan, Sept. 4–6, pp. 187–192
Vukobratovic, M, Borovac, B, Surla, D, Stokic, D 1990 Biped locomotion, dynamics, stability, control and applications, Springer-Verlag, Berlin
Vukobratovic, M, Frank, A A, Juricic, D 1970 On the stability of biped locomotion, IEEE Trans. Biomedical Engineering, BME 17(1): 25–36
Vukobratovic, M, Radic, A D 2004 Contribution to the integrated control of artificial human gait, SISY-2004, Serbia and Montenegro, Oct 1–2
Vundavilli, P R, Sahu, S K, Pratihar, D K 2007 Dynamically balanced ascending and descending gaits of a two-legged robot, Int. J. of Humanoid Robotics, 4(4): 717–751
Zheng, Y F, Shen, J 1990 Gait synthesis for the SD-2 biped robot to climb slopping surface, IEEE Transactions on Robotics and Automation, 6(1): 86–96
Zheng, Y F, Shen, J, Sias, F R 1998 A motion control scheme for a biped robot to climb sloping surfaces, in Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 814–816
Zhou, C, Yue, P K, Ni, J, Chan, S B 2004 Dynamically stable gait planning for a humanoid robot to climb sloping surface, in Proc. of IEEE Conf. on Robotics, Automation and Mechatronics, Singapore, Dec 1–3, pp. 341–346
Author information
Authors and Affiliations
Corresponding author
Rights and permissions
About this article
Cite this article
VUNDAVILLI, P.R., PRATIHAR, D.K. Balanced gait generations of a two-legged robot on sloping surface. Sadhana 36, 525–550 (2011). https://doi.org/10.1007/s12046-011-0031-7
Received:
Revised:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s12046-011-0031-7