Posture/Walking Control for Humanoid Robot Based on Kinematic Resolution of CoM Jacobian With Embedded Motion
This paper proposes the walking pattern generation method, the kinematic resolution method of center of mass (CoM) Jacobian with embedded motions, and the design method of posture/walking controller for humanoid robots. First, the walking pattern is generated using the simplified model for bipedal r...
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| Veröffentlicht in: | IEEE transactions on robotics 2007-12, Vol.23 (6), p.1285-1293 |
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| container_title | IEEE transactions on robotics |
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| creator | CHOI, Youngjin KIM, Doik OH, Yonghwan YOU, Bum-Jae |
| description | This paper proposes the walking pattern generation method, the kinematic resolution method of center of mass (CoM) Jacobian with embedded motions, and the design method of posture/walking controller for humanoid robots. First, the walking pattern is generated using the simplified model for bipedal robot. Second, the kinematic resolution of CoM Jacobian with embedded motions makes a humanoid robot balanced automatically during movement of all other limbs. Actually, it offers an ability of whole body coordination to humanoid robot. Third, the posture/walking controller is completed by adding the CoM controller minus the zero moment point controller to the suggested kinematic resolution method. We prove that the proposed posture/walking controller brings the disturbance input-to-state stability for the simplified bipedal walking robot model. Finally, the effectiveness of the suggested posture/walking control method is shown through experiments with regard to the arm dancing and walking of humanoid robot. |
| doi_str_mv | 10.1109/TRO.2007.904907 |
| format | Article |
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First, the walking pattern is generated using the simplified model for bipedal robot. Second, the kinematic resolution of CoM Jacobian with embedded motions makes a humanoid robot balanced automatically during movement of all other limbs. Actually, it offers an ability of whole body coordination to humanoid robot. Third, the posture/walking controller is completed by adding the CoM controller minus the zero moment point controller to the suggested kinematic resolution method. We prove that the proposed posture/walking controller brings the disturbance input-to-state stability for the simplified bipedal walking robot model. Finally, the effectiveness of the suggested posture/walking control method is shown through experiments with regard to the arm dancing and walking of humanoid robot.</description><identifier>ISSN: 1552-3098</identifier><identifier>EISSN: 1941-0468</identifier><identifier>DOI: 10.1109/TRO.2007.904907</identifier><identifier>CODEN: ITREAE</identifier><language>eng</language><publisher>New York, NY: IEEE</publisher><subject>Applied sciences ; Automatic control ; Automatic generation control ; Biological system modeling ; Center of mass (CoM) ; COM ; CoM Jacobian ; Computer science; control theory; systems ; Control system analysis ; Control system synthesis ; Control theory. Systems ; Controllers ; Design methodology ; disturbance input-to-state stability (ISS) ; Exact sciences and technology ; Humanoid ; humanoid robot ; Humanoid robots ; Jacobian matrices ; Jacobians ; Kinematics ; Legged locomotion ; Motion control ; Posture ; posture/walking control ; Robot control ; Robot kinematics ; Robotics ; Robots ; Walking ; whole body coordination (WBC) ; zero moment point (ZMP)</subject><ispartof>IEEE transactions on robotics, 2007-12, Vol.23 (6), p.1285-1293</ispartof><rights>2008 INIST-CNRS</rights><rights>Copyright Institute of Electrical and Electronics Engineers, Inc. (IEEE) Dec 2007</rights><lds50>peer_reviewed</lds50><woscitedreferencessubscribed>false</woscitedreferencessubscribed><citedby>FETCH-LOGICAL-c414t-51ac020ff91d4bebc88b60cc12e40c9b982a1092896ecb5e605c534766dd71af3</citedby><cites>FETCH-LOGICAL-c414t-51ac020ff91d4bebc88b60cc12e40c9b982a1092896ecb5e605c534766dd71af3</cites></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://ieeexplore.ieee.org/document/4359259$$EHTML$$P50$$Gieee$$H</linktohtml><link.rule.ids>314,776,780,792,27901,27902,54733</link.rule.ids><linktorsrc>$$Uhttps://ieeexplore.ieee.org/document/4359259$$EView_record_in_IEEE$$FView_record_in_$$GIEEE</linktorsrc><backlink>$$Uhttp://pascal-francis.inist.fr/vibad/index.php?action=getRecordDetail&idt=19953823$$DView record in Pascal Francis$$Hfree_for_read</backlink></links><search><creatorcontrib>CHOI, Youngjin</creatorcontrib><creatorcontrib>KIM, Doik</creatorcontrib><creatorcontrib>OH, Yonghwan</creatorcontrib><creatorcontrib>YOU, Bum-Jae</creatorcontrib><title>Posture/Walking Control for Humanoid Robot Based on Kinematic Resolution of CoM Jacobian With Embedded Motion</title><title>IEEE transactions on robotics</title><addtitle>TRO</addtitle><description>This paper proposes the walking pattern generation method, the kinematic resolution method of center of mass (CoM) Jacobian with embedded motions, and the design method of posture/walking controller for humanoid robots. First, the walking pattern is generated using the simplified model for bipedal robot. Second, the kinematic resolution of CoM Jacobian with embedded motions makes a humanoid robot balanced automatically during movement of all other limbs. Actually, it offers an ability of whole body coordination to humanoid robot. Third, the posture/walking controller is completed by adding the CoM controller minus the zero moment point controller to the suggested kinematic resolution method. We prove that the proposed posture/walking controller brings the disturbance input-to-state stability for the simplified bipedal walking robot model. Finally, the effectiveness of the suggested posture/walking control method is shown through experiments with regard to the arm dancing and walking of humanoid robot.</description><subject>Applied sciences</subject><subject>Automatic control</subject><subject>Automatic generation control</subject><subject>Biological system modeling</subject><subject>Center of mass (CoM)</subject><subject>COM</subject><subject>CoM Jacobian</subject><subject>Computer science; control theory; systems</subject><subject>Control system analysis</subject><subject>Control system synthesis</subject><subject>Control theory. Systems</subject><subject>Controllers</subject><subject>Design methodology</subject><subject>disturbance input-to-state stability (ISS)</subject><subject>Exact sciences and technology</subject><subject>Humanoid</subject><subject>humanoid robot</subject><subject>Humanoid robots</subject><subject>Jacobian matrices</subject><subject>Jacobians</subject><subject>Kinematics</subject><subject>Legged locomotion</subject><subject>Motion control</subject><subject>Posture</subject><subject>posture/walking control</subject><subject>Robot control</subject><subject>Robot kinematics</subject><subject>Robotics</subject><subject>Robots</subject><subject>Walking</subject><subject>whole body coordination (WBC)</subject><subject>zero moment point (ZMP)</subject><issn>1552-3098</issn><issn>1941-0468</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2007</creationdate><recordtype>article</recordtype><sourceid>RIE</sourceid><recordid>eNp9kc1P3DAQxSNUpFLg3EMvVqWWXrI7_krsY7uCUgoCrUAcI8eZtKaJTe3kwH9fR4taqQdOY41_742eXlG8pbCiFPT6dnu9YgD1SoPQUO8VB1QLWoKo1Kv8lpKVHLR6XbxJ6QGAZYgfFONNSNMccX1vhl_O_yCb4KcYBtKHSM7n0fjgOrINbZjIF5OwI8GT787jaCZnyRZTGObJ5WXos_aKXBgbWmc8uXfTT3I6tth1WXUVFuio2O_NkPD4eR4Wd2ent5vz8vL667fN58vSCiqmUlJjgUHfa9qJFlurVFuBtZShAKtbrZjJkZnSFdpWYgXSSi7qquq6mpqeHxYnO9_HGH7PmKZmdMniMBiPYU5Njl7xStd1Jj--SHIhFl_I4KcXQQqcMq2UoBl9_x_6EOboc-CGAZVcg1oOr3eQjSGliH3zGN1o4lN2apZCm1xosxTa7ArNig_PtiZZM_TReOvSP5nWkivGM_duxzlE_PstuNRMav4HUJSnug</recordid><startdate>20071201</startdate><enddate>20071201</enddate><creator>CHOI, Youngjin</creator><creator>KIM, Doik</creator><creator>OH, Yonghwan</creator><creator>YOU, Bum-Jae</creator><general>IEEE</general><general>Institute of Electrical and Electronics Engineers</general><general>The Institute of Electrical and Electronics Engineers, Inc. (IEEE)</general><scope>97E</scope><scope>RIA</scope><scope>RIE</scope><scope>IQODW</scope><scope>AAYXX</scope><scope>CITATION</scope><scope>7SC</scope><scope>7SP</scope><scope>7TB</scope><scope>8FD</scope><scope>FR3</scope><scope>JQ2</scope><scope>L7M</scope><scope>L~C</scope><scope>L~D</scope><scope>F28</scope></search><sort><creationdate>20071201</creationdate><title>Posture/Walking Control for Humanoid Robot Based on Kinematic Resolution of CoM Jacobian With Embedded Motion</title><author>CHOI, Youngjin ; KIM, Doik ; OH, Yonghwan ; YOU, Bum-Jae</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c414t-51ac020ff91d4bebc88b60cc12e40c9b982a1092896ecb5e605c534766dd71af3</frbrgroupid><rsrctype>articles</rsrctype><prefilter>articles</prefilter><language>eng</language><creationdate>2007</creationdate><topic>Applied sciences</topic><topic>Automatic control</topic><topic>Automatic generation control</topic><topic>Biological system modeling</topic><topic>Center of mass (CoM)</topic><topic>COM</topic><topic>CoM Jacobian</topic><topic>Computer science; control theory; systems</topic><topic>Control system analysis</topic><topic>Control system synthesis</topic><topic>Control theory. Systems</topic><topic>Controllers</topic><topic>Design methodology</topic><topic>disturbance input-to-state stability (ISS)</topic><topic>Exact sciences and technology</topic><topic>Humanoid</topic><topic>humanoid robot</topic><topic>Humanoid robots</topic><topic>Jacobian matrices</topic><topic>Jacobians</topic><topic>Kinematics</topic><topic>Legged locomotion</topic><topic>Motion control</topic><topic>Posture</topic><topic>posture/walking control</topic><topic>Robot control</topic><topic>Robot kinematics</topic><topic>Robotics</topic><topic>Robots</topic><topic>Walking</topic><topic>whole body coordination (WBC)</topic><topic>zero moment point (ZMP)</topic><toplevel>peer_reviewed</toplevel><toplevel>online_resources</toplevel><creatorcontrib>CHOI, Youngjin</creatorcontrib><creatorcontrib>KIM, Doik</creatorcontrib><creatorcontrib>OH, Yonghwan</creatorcontrib><creatorcontrib>YOU, Bum-Jae</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>Pascal-Francis</collection><collection>CrossRef</collection><collection>Computer and Information Systems Abstracts</collection><collection>Electronics & Communications Abstracts</collection><collection>Mechanical & Transportation Engineering Abstracts</collection><collection>Technology Research Database</collection><collection>Engineering Research Database</collection><collection>ProQuest Computer Science Collection</collection><collection>Advanced Technologies Database with Aerospace</collection><collection>Computer and Information Systems Abstracts Academic</collection><collection>Computer and Information Systems Abstracts Professional</collection><collection>ANTE: Abstracts in New Technology & Engineering</collection><jtitle>IEEE transactions on robotics</jtitle></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>CHOI, Youngjin</au><au>KIM, Doik</au><au>OH, Yonghwan</au><au>YOU, Bum-Jae</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>Posture/Walking Control for Humanoid Robot Based on Kinematic Resolution of CoM Jacobian With Embedded Motion</atitle><jtitle>IEEE transactions on robotics</jtitle><stitle>TRO</stitle><date>2007-12-01</date><risdate>2007</risdate><volume>23</volume><issue>6</issue><spage>1285</spage><epage>1293</epage><pages>1285-1293</pages><issn>1552-3098</issn><eissn>1941-0468</eissn><coden>ITREAE</coden><abstract>This paper proposes the walking pattern generation method, the kinematic resolution method of center of mass (CoM) Jacobian with embedded motions, and the design method of posture/walking controller for humanoid robots. First, the walking pattern is generated using the simplified model for bipedal robot. Second, the kinematic resolution of CoM Jacobian with embedded motions makes a humanoid robot balanced automatically during movement of all other limbs. Actually, it offers an ability of whole body coordination to humanoid robot. Third, the posture/walking controller is completed by adding the CoM controller minus the zero moment point controller to the suggested kinematic resolution method. We prove that the proposed posture/walking controller brings the disturbance input-to-state stability for the simplified bipedal walking robot model. Finally, the effectiveness of the suggested posture/walking control method is shown through experiments with regard to the arm dancing and walking of humanoid robot.</abstract><cop>New York, NY</cop><pub>IEEE</pub><doi>10.1109/TRO.2007.904907</doi><tpages>9</tpages></addata></record> |
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| subjects | Applied sciences Automatic control Automatic generation control Biological system modeling Center of mass (CoM) COM CoM Jacobian Computer science control theory systems Control system analysis Control system synthesis Control theory. Systems Controllers Design methodology disturbance input-to-state stability (ISS) Exact sciences and technology Humanoid humanoid robot Humanoid robots Jacobian matrices Jacobians Kinematics Legged locomotion Motion control Posture posture/walking control Robot control Robot kinematics Robotics Robots Walking whole body coordination (WBC) zero moment point (ZMP) |
| title | Posture/Walking Control for Humanoid Robot Based on Kinematic Resolution of CoM Jacobian With Embedded Motion |
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