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Balance control of humanoid robot for Hurosot

Bum-Joo Lee, Yong-Duk Kim and Jong-Hwan Kim Robot Intelligence Technology Lab. KAIST. 16 th IFAC, Jul., 8, 2005. Balance control of humanoid robot for Hurosot. Contents. Introduction Gait generation First phase: walking pattern generation Second phase: yawing moment cancellation

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Balance control of humanoid robot for Hurosot

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  1. Bum-Joo Lee, Yong-Duk Kim and Jong-Hwan Kim Robot Intelligence Technology Lab. KAIST 16th IFAC, Jul., 8, 2005 Balance control of humanoid robot for Hurosot

  2. Contents • Introduction • Gait generation • First phase: walking pattern generation • Second phase: yawing moment cancellation • Balance control • Inverted pendulum model • Compensation method • Experiment • Conclusions

  3. 1. Introduction • Humanoid robot • Biped (two-legged) robot. • Expected to eventually evolve into one with a human-like body and intelligence. • HanSaRam • Meaning ‘one human being’ in Korean • A humanoid robot undergoing continual design and development in the Robot Intelligence Technology Laboratory at KAIST since 2000 • Stability • ZMP (Zero Moment Point) must always reside in the convex hull of all contact points on the ground plane. • ZMP:the point on the ground plane at which the total moments due to ground contacts becomes zero, proposed by Vukobratovic

  4. 1. Introduction HSR-I HSR-III HSR-II HSR-III: 2001 - 12 DC motors and 10 RC servo motors - Human-like body HSR-IV - No sensor feedback HSR-V HSR-VI HSR-IV: 2002 - 12 RC servo motors - Feedback using force sensors - No upper body HSR-V: 2003 HSR-VI: 2004 - 12 DC motors and 16 RC servo motors • Feedback using force sensors - 12 DC motors and 13 RC servo motors - Human-like body • Feedback using force sensors - Improved performance HSR-I, II: 2000 - Easy to make and control, Lack of torque

  5. 1. Introduction

  6. 2. Two Phase Off-line Gait Generation < Off-Line > Two Phase Off-line Gait Generator 1st Phase 2nd Phase Step Time, Step Size, Trajectory Maximum Foot Height Gait Generation Yawing Moment Using Simulator Cancellation Compensated Reference Joint Angle ZMP Compensator Reference Robot (HSR-V) Joint Angle Real Joint Angle Feedback ZMP Calculator Sensor Data Measured ZMP Data < On-Line > Control architecture

  7. 2. Two Phase Off-line Gait Generation First phase: walking pattern generation Posture vector

  8. 2. Two Phase Off-line Gait Generation Gait generation (Huang 2000) 1) Foot trajectory

  9. 2. Two Phase Off-line Gait Generation 2) Hip trajectory

  10. 2. Two Phase Off-line Gait Generation 3rd order spline interpolation Interpolate at Match velocity and acceleration values at every via points.  Calculate the trajectories of ankle and hip joints.

  11. 2. Two Phase Off-line Gait Generation Second phase: yawing moment compensation • ZMP equation:

  12. 2. Two Phase Off-line Gait Generation

  13. 2. Two Phase Off-line Gait Generation • Off-line yawing moment cancellation: Above equation can be solved by numerical double integration.

  14. 3. On-line Balance control Robot modeling for online compensation Inverted Pendulum Model < Simplified upper body model > < Lumped upper body model >

  15. 3. On-line Balance control • On-line compensation equation

  16. 3. On-line Balance control • Continued

  17. 3. On-line Balance control • Continued

  18. 4. Experiments • Two phase off-line gait generation

  19. 4. Experiments • Online Balance Control

  20. 4. Experiments • ZMP trajectory without compensation (pre-designed ZMPx = 15mm) (a) ZMP trajectory (5 degree tilt) (b) waist angle trajectory.

  21. 4. Experiments • ZMP trajectory with compensation ( at 5 degree tilt) (a) ZMP trajectory. (b) waist angle trajectory.

  22. 4. Experiments • Ongoing research: HuroSot

  23. 5. Conclusions • This paper has presented an overview of research development in humanoid robot HanSaRam. • The off-line gait generation method and the on-line compensation algorithm was proposed. • By putting arm-swinging motion in the off-line gait generation stage, the yawing moment could be cancelled. • ZMP compensation has been accomplished by moving the upper body front and rear in on-line walking.

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