Kid-size robot humanoid walking with heel-contact and toe-off motion
Human-like features, like toe-off, heel-strike can enhance the performance of bipedal robots. However, few studies have considered the anthropomorphism of walking planning. Fewer studies have achieved their toe-off, heel-strike gait planning framework in a child-sized humanoid robot platform. This p...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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PeerJ Inc.
2022-03-01
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| Series: | PeerJ Computer Science |
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| Online Access: | https://peerj.com/articles/cs-797.pdf |
| _version_ | 1818271160917295104 |
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| author | Yucong Wu Yang Pan Xiaokun Leng Zhicheng He |
| author_facet | Yucong Wu Yang Pan Xiaokun Leng Zhicheng He |
| author_sort | Yucong Wu |
| collection | DOAJ |
| description | Human-like features, like toe-off, heel-strike can enhance the performance of bipedal robots. However, few studies have considered the anthropomorphism of walking planning. Fewer studies have achieved their toe-off, heel-strike gait planning framework in a child-sized humanoid robot platform. This paper presents a human-like walking control framework based on the Divergent Component of Motion (DCM) com planning method that enables a child-sized humanoid robot to walk with a humanoid pattern with a speed of 0.6 s per step a strike of 30 cm. The control framework consists of three parts: the human-like gait generation of the center of mass (CoM) and swings foot trajectory, the dynamic replan in phase switch and the upper body stabilization controller. The dynamic replanning of the CoM and foot trajectory can efficiently decrease the vibration in the step-phase switch. The up-body stabilization controller can reduce the up-body swing in walking and increase the robot's stability while walking. The robot uses a mems-based inertial measurement unit (IMU) and joint position encoders to estimate the current state of the robot and use force-sensitive resistors (FSR) on the robot foot to identify the actual step phase of the robot. None of these solutions is high-cost or difficult to integrate with a child-size robot. Software simulations and walking experiments are using to verify the motion control algorithm. The effectiveness of the pattern generation and the controller can realize more human-like walking styles in a child-size robot are confirmed. |
| first_indexed | 2024-12-12T21:21:46Z |
| format | Article |
| id | doaj.art-0e18e582319147c39ae9452cfc882c91 |
| institution | Directory Open Access Journal |
| issn | 2376-5992 |
| language | English |
| last_indexed | 2024-12-12T21:21:46Z |
| publishDate | 2022-03-01 |
| publisher | PeerJ Inc. |
| record_format | Article |
| series | PeerJ Computer Science |
| spelling | doaj.art-0e18e582319147c39ae9452cfc882c912022-12-22T00:11:33ZengPeerJ Inc.PeerJ Computer Science2376-59922022-03-017e79710.7717/peerj-cs.797Kid-size robot humanoid walking with heel-contact and toe-off motionYucong Wu0Yang Pan1Xiaokun Leng2Zhicheng He3Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems, Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, ChinaShenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems, Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, ChinaGuangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities, Southern University of Science and Technology, Shenzhen, ChinaGuangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities, Southern University of Science and Technology, Shenzhen, ChinaHuman-like features, like toe-off, heel-strike can enhance the performance of bipedal robots. However, few studies have considered the anthropomorphism of walking planning. Fewer studies have achieved their toe-off, heel-strike gait planning framework in a child-sized humanoid robot platform. This paper presents a human-like walking control framework based on the Divergent Component of Motion (DCM) com planning method that enables a child-sized humanoid robot to walk with a humanoid pattern with a speed of 0.6 s per step a strike of 30 cm. The control framework consists of three parts: the human-like gait generation of the center of mass (CoM) and swings foot trajectory, the dynamic replan in phase switch and the upper body stabilization controller. The dynamic replanning of the CoM and foot trajectory can efficiently decrease the vibration in the step-phase switch. The up-body stabilization controller can reduce the up-body swing in walking and increase the robot's stability while walking. The robot uses a mems-based inertial measurement unit (IMU) and joint position encoders to estimate the current state of the robot and use force-sensitive resistors (FSR) on the robot foot to identify the actual step phase of the robot. None of these solutions is high-cost or difficult to integrate with a child-size robot. Software simulations and walking experiments are using to verify the motion control algorithm. The effectiveness of the pattern generation and the controller can realize more human-like walking styles in a child-size robot are confirmed.https://peerj.com/articles/cs-797.pdfHumanoid robotLIPMBiped robotHeel-contact and Toe-off |
| spellingShingle | Yucong Wu Yang Pan Xiaokun Leng Zhicheng He Kid-size robot humanoid walking with heel-contact and toe-off motion PeerJ Computer Science Humanoid robot LIPM Biped robot Heel-contact and Toe-off |
| title | Kid-size robot humanoid walking with heel-contact and toe-off motion |
| title_full | Kid-size robot humanoid walking with heel-contact and toe-off motion |
| title_fullStr | Kid-size robot humanoid walking with heel-contact and toe-off motion |
| title_full_unstemmed | Kid-size robot humanoid walking with heel-contact and toe-off motion |
| title_short | Kid-size robot humanoid walking with heel-contact and toe-off motion |
| title_sort | kid size robot humanoid walking with heel contact and toe off motion |
| topic | Humanoid robot LIPM Biped robot Heel-contact and Toe-off |
| url | https://peerj.com/articles/cs-797.pdf |
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