Velocity-Based Gait Planning for Underactuated Bipedal Robot on Uneven and Compliant Terrain
This article develops a gait planning method for underactuated bipedal robot on uneven and compliant terrain. First, we employ a linear spring-damper model to describe foot-ground compliant contact, and establish a decoupled robot-ground three-dimensional dynamic mode. Second, based on a velocity-ba...
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| Veröffentlicht in: | IEEE transactions on industrial electronics (1982) 2022-11, Vol.69 (11), p.11414-11424 |
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| container_title | IEEE transactions on industrial electronics (1982) |
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| creator | Yao, Daojin Yang, Lin Xiao, Xiaohui Zhou, MengChu |
| description | This article develops a gait planning method for underactuated bipedal robot on uneven and compliant terrain. First, we employ a linear spring-damper model to describe foot-ground compliant contact, and establish a decoupled robot-ground three-dimensional dynamic mode. Second, based on a velocity-based bipedal stability definition and human walking characteristics, we propose a gait planning method to realize underactuated bipedal walking on uneven and compliant terrain. We decouple bipedal gait planning into sagittal and lateral master-slave ones. By planning the motion state of Center-of-Mass (CoM) of a robot, we make the movement of lateral and sagittal coincident such that bipedal walking is realized. Finally, underactuated bipedal walking with an average walking speed of 0.216 m/s and a step length of 183.9 mm is realized on uneven terrain where the maximum height of unevenness is 32 mm. The experimental results show that underactuated bipedal walking can be realized on uneven and compliant terrain by using the proposed method to control robot CoM and track its desired velocity. |
| doi_str_mv | 10.1109/TIE.2021.3125671 |
| format | Article |
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First, we employ a linear spring-damper model to describe foot-ground compliant contact, and establish a decoupled robot-ground three-dimensional dynamic mode. Second, based on a velocity-based bipedal stability definition and human walking characteristics, we propose a gait planning method to realize underactuated bipedal walking on uneven and compliant terrain. We decouple bipedal gait planning into sagittal and lateral master-slave ones. By planning the motion state of Center-of-Mass (CoM) of a robot, we make the movement of lateral and sagittal coincident such that bipedal walking is realized. Finally, underactuated bipedal walking with an average walking speed of 0.216 m/s and a step length of 183.9 mm is realized on uneven terrain where the maximum height of unevenness is 32 mm. 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First, we employ a linear spring-damper model to describe foot-ground compliant contact, and establish a decoupled robot-ground three-dimensional dynamic mode. Second, based on a velocity-based bipedal stability definition and human walking characteristics, we propose a gait planning method to realize underactuated bipedal walking on uneven and compliant terrain. We decouple bipedal gait planning into sagittal and lateral master-slave ones. By planning the motion state of Center-of-Mass (CoM) of a robot, we make the movement of lateral and sagittal coincident such that bipedal walking is realized. Finally, underactuated bipedal walking with an average walking speed of 0.216 m/s and a step length of 183.9 mm is realized on uneven terrain where the maximum height of unevenness is 32 mm. The experimental results show that underactuated bipedal walking can be realized on uneven and compliant terrain by using the proposed method to control robot CoM and track its desired velocity.</description><subject>Biped robot</subject><subject>Control methods</subject><subject>Dynamic stability</subject><subject>Foot</subject><subject>Gait</subject><subject>gait planning</subject><subject>Legged locomotion</subject><subject>Movement</subject><subject>Planning</subject><subject>Robot control</subject><subject>Robot kinematics</subject><subject>robot walking</subject><subject>Robots</subject><subject>Stability criteria</subject><subject>Terrain</subject><subject>Torso</subject><subject>underactuated walking</subject><subject>uneven and compliant terrain</subject><subject>Unevenness</subject><subject>Walking</subject><issn>0278-0046</issn><issn>1557-9948</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2022</creationdate><recordtype>article</recordtype><sourceid>RIE</sourceid><recordid>eNo9kM9LwzAUx4MoOKd3wUvAc2eSNklzdGPOwUCRzZMQsuRVMrpkpp2w_96MDU_v8P3F-yB0T8mIUqKelvPpiBFGRyVlXEh6gQaUc1koVdWXaECYrAtCKnGNbrpuQwitOOUD9PUJbbS-PxRj04HDM-N7_N6aEHz4xk1MeBUcJGP7vemzPvY7cKbFH3EdexxDluEXAjbB4Unc7lpvQo-XkJLx4RZdNabt4O58h2j1Ml1OXovF22w-eV4UltVKFtwJCUDB5WbHK9NItS6bWopGcK7EugTOQNQNJ9bWTuQvLFGSUVBGCQe2HKLHU-8uxZ89dL3exH0KeVIzISsiOat5dpGTy6bYdQkavUt-a9JBU6KPDHVmqI8M9ZlhjjycIh4A_u1KUE5YWf4B9nFtKQ</recordid><startdate>20221101</startdate><enddate>20221101</enddate><creator>Yao, Daojin</creator><creator>Yang, Lin</creator><creator>Xiao, Xiaohui</creator><creator>Zhou, MengChu</creator><general>IEEE</general><general>The Institute of Electrical and Electronics Engineers, Inc. (IEEE)</general><scope>97E</scope><scope>RIA</scope><scope>RIE</scope><scope>AAYXX</scope><scope>CITATION</scope><scope>7SP</scope><scope>8FD</scope><scope>L7M</scope><orcidid>https://orcid.org/0000-0002-8212-2452</orcidid><orcidid>https://orcid.org/0000-0003-1132-7044</orcidid><orcidid>https://orcid.org/0000-0001-7852-3117</orcidid><orcidid>https://orcid.org/0000-0002-5408-8752</orcidid></search><sort><creationdate>20221101</creationdate><title>Velocity-Based Gait Planning for Underactuated Bipedal Robot on Uneven and Compliant Terrain</title><author>Yao, Daojin ; Yang, Lin ; Xiao, Xiaohui ; Zhou, MengChu</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c2897-5d67ee1ededad54af79b3f876f65596b3e52e68f50cc8d6004c09721e9a96dec3</frbrgroupid><rsrctype>articles</rsrctype><prefilter>articles</prefilter><language>eng</language><creationdate>2022</creationdate><topic>Biped robot</topic><topic>Control methods</topic><topic>Dynamic stability</topic><topic>Foot</topic><topic>Gait</topic><topic>gait planning</topic><topic>Legged locomotion</topic><topic>Movement</topic><topic>Planning</topic><topic>Robot control</topic><topic>Robot kinematics</topic><topic>robot walking</topic><topic>Robots</topic><topic>Stability criteria</topic><topic>Terrain</topic><topic>Torso</topic><topic>underactuated walking</topic><topic>uneven and compliant terrain</topic><topic>Unevenness</topic><topic>Walking</topic><toplevel>peer_reviewed</toplevel><toplevel>online_resources</toplevel><creatorcontrib>Yao, Daojin</creatorcontrib><creatorcontrib>Yang, Lin</creatorcontrib><creatorcontrib>Xiao, Xiaohui</creatorcontrib><creatorcontrib>Zhou, MengChu</creatorcontrib><collection>IEEE All-Society Periodicals Package (ASPP) 2005-present</collection><collection>IEEE All-Society Periodicals Package (ASPP) 1998-Present</collection><collection>IEEE Electronic Library (IEL)</collection><collection>CrossRef</collection><collection>Electronics & Communications Abstracts</collection><collection>Technology Research Database</collection><collection>Advanced Technologies Database with Aerospace</collection><jtitle>IEEE transactions on industrial electronics (1982)</jtitle></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Yao, Daojin</au><au>Yang, Lin</au><au>Xiao, Xiaohui</au><au>Zhou, MengChu</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>Velocity-Based Gait Planning for Underactuated Bipedal Robot on Uneven and Compliant Terrain</atitle><jtitle>IEEE transactions on industrial electronics (1982)</jtitle><stitle>TIE</stitle><date>2022-11-01</date><risdate>2022</risdate><volume>69</volume><issue>11</issue><spage>11414</spage><epage>11424</epage><pages>11414-11424</pages><issn>0278-0046</issn><eissn>1557-9948</eissn><coden>ITIED6</coden><abstract>This article develops a gait planning method for underactuated bipedal robot on uneven and compliant terrain. 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| source | IEEE Electronic Library (IEL) |
| subjects | Biped robot Control methods Dynamic stability Foot Gait gait planning Legged locomotion Movement Planning Robot control Robot kinematics robot walking Robots Stability criteria Terrain Torso underactuated walking uneven and compliant terrain Unevenness Walking |
| title | Velocity-Based Gait Planning for Underactuated Bipedal Robot on Uneven and Compliant Terrain |
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