Abstract
This paper proposes a method to produce the stable walking of humanoid robots by incorporating the vertical center of mass (COM) and foot motions, which are generated by the evolutionary optimized central pattern generator (CPG), into the modifiable walking pattern generator (MWPG). The MWPG extends the conventional 3-D linear inverted pendulum model (3-D LIPM) by allowing a zero moment point (ZMP) variation. The disturbance caused by the vertical COM motion is compensated in real time by the sensory feedback in the CPG. In this paper, the vertical foot trajectory of the swinging leg, as well as the vertical COM trajectory of the 3-D LIPM, are generated by the CPG for the effective compensation of the disturbance. Consequently, using the proposed method, the humanoid robot is able to walk with a vertical COM and the foot motions generated by the CPG, while modifying its walking patterns by using the MWPG in real time. The CPG with the sensory feedback is optimized to obtain the desired output signals. The optimization of the CPG is formulated as a constrained optimization problem with equality constraints and is solved by two-phase evolutionary programming (TPEP). The validity of the proposed method is verified through walking experiments for the small-sized humanoid robot, HanSaRam-IX (HSR-IX).
Highlights
The walking motion of a humanoid robot is one of the representative research topics in the field of robotics, and various walking-pattern generation methods for stable walking have been developed [1,2,3,4]
This paper proposes a method to produce the stable walking of humanoid robots by incorporating the vertical centre of mass (COM) and foot motions, which are generated by the evolutionary optimized central pattern gener‐ ator (CPG), into the modifiable walk‐ ing pattern generator (MWPG) [6,7,8,9]
Conse‐ quently, using the proposed method, the humanoid robot is able to walk with the vertical COM and the foot motions to be generated by the CPG, while modifying its walking patterns by the modifiable walking pattern generator (MWPG) in real time
Summary
The walking motion of a humanoid robot is one of the representative research topics in the field of robotics, and various walking-pattern generation methods for stable walking have been developed [1,2,3,4]. This paper proposes a method to produce the stable walking of humanoid robots by incorporating the vertical COM and foot motions, which are generated by the evolutionary optimized CPG, into the modifiable walk‐ ing pattern generator (MWPG) [6,7,8,9]. Conse‐ quently, using the proposed method, the humanoid robot is able to walk with the vertical COM and the foot motions to be generated by the CPG, while modifying its walking patterns by the MWPG in real time. 2. Walking Using Vertical COM and Foot Motions Produced by an Evolutionary Optimized CPG
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