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An Experimental Analysis of Stability in Human Walking

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Journal of Bionic Engineering 2018年第5期15卷 827-838页

作者： Zhipeng Wang Bin He Yanmin Zhou Tingting Yuan Shoulin Xu Minzhi Shao Department of Control Science and Engineering Tongji University Shanghai 201804 China College of Arts and Media Tongji University Shanghai 201804 China

biped locomotion has excellent environment adaptability due to natural selection and evolution over hundreds of millions years. However, the biped walking stability mechanism is still not clear. In this paper, an experimental analysis of walking stability in human walking is carried out by using a motion capture system. A new stability analysis method is proposed based on Zero Moment Point （ZMP） and Sliding Time Window （STW）. The influences of ground friction coefficient, ground slope angle and contact area of support polygon on human walking stability are investigated. The experiment is carried out with 12 healthy subjects, and 53 passive reflective markers are pasted to each subject to obtain moving trajectory and to calculate lower limb joint variation during walking. Experimental results show that ground friction coefficient, ground slope angle and contact area have significant effects on the stride length, step height, gait cycle and lower limb joint angles. When walking with small stability margin, subjects modulate gait to improve the stability, such as shortening stride length, reducing step height, and increasing the gait cycle. These results provide insights into the stability mechanism of human walking, which is beneficial for locomotion control of biped robots.

关键词： human locomotion walking stablity walking gait biped robot motion caption system

An Experimental Analysis of Overcoming Obstacle in Human Walking

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Journal of Bionic Engineering 2014年第4期11卷 497-505页

作者： Tao Li Marco Ceccarelli Minzhou Luo Med Amine Laribi Said Zeghloul Institute of Advanced Manufacturing Technology Hefei Institutes of Physical Science Chinese Academy of Sciences Changzhou 213164 P. R. China Laboratory of robotics and Mechatronics University of Cassino and South Latium Cassino 03043 Italy Institute PPRIME- DGMSC CNRS-University of Poitiers- ENSMA 15 Rue de l'Hotel Dieu 86000 Poitiers France

In this paper, an experimental analysis of overcoming obstacle in human walking is carried out by means of a motion capture system. In the experiment, the lower body of an adult human is divided into seven segments, and three markers are pasted to each segment with the aim to obtain moving trajectory and to calculate joint variation during walking. Moreover, kinematic data in terms of displacement, velocity and acceleration are acquired as well. In addition, ground reaction forces are measured using force sensors. Based on the experimental results, features of overcoming obstacle in human walking are ana- lyzed. Experimental results show that the reason which leads to smooth walking can be identified as that the human has slight movement in the vertical direction during walking; the reason that human locomotion uses gravity effectively can be identified as that feet rotate around the toe joints during toe-off phase aiming at using gravitational potential energy to provide propulsion for swing phase. Furthermore, both normal walking gait and obstacle overcoming gait are characterized in a form that can provide necessary knowledge and useful databases for the implementation of motion planning and gait planning towards overcoming obstacle for humanoid robots.

关键词： human locomotion overcoming obstacle walking gait biped robot motion capture

CPG’s Parameters and Topology Co-Evolution for Walking Control of biped robots

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CPG’s Parameters and Topology Co-Evolution for Walking Cont...

作者： XIAO Hui CHEN Qijun LIU Chengju Department of Electronic and Information Engineering Institute of Control Theory and Control EngineeringTongji University

In this paper,we focus on the bipedal walking that can be achieved by using a bio-inspired controller based on central pattern generator（CPG）.The challenge of this work is to determine the topology of neural network and the setting of the *** this,by using neural oscillators to generate joint position control signals directly,a proper distributed oscillator network which consists of a body network and a leg network is *** realize stable biped walking,the sensory feedback loop is designed and the parameters of the system are evolved by multi-objective genetic algorithm（MOGA）.The presented control method is validated through an ODE-based physically simulated *** the controller,NAO can realize basic walking pattern,which demonstrate the effectiveness of the presented bio-inspired control method.

关键词： Central pattern generator biped robot walking control evolutionary algorithm

High Efficient Walking of Compass-like biped robots with Foot Rotation

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High Efficient Walking of Compass-like Biped Robots with Foo...

第26届中国控制与决策会议

作者： Zidong Wang Gangfeng Yan Chong Tang Zhiyun Lin College of Electrical Engineering Zhejiang University

This paper investigates the high efficient walking problem of a planar compass-like biped robot with massless feet. The walking manner with the stance foot allowed to rotate about the toe, is considered. A latch attached to the hip is introduced to lock the hip joint, which works when the hip joint retracts to a desired angle, and spring devices are equipped at the ankle joints to reduce the inputs of the ankles. After modeling the walking robot as a hybrid system with multiple continuous state spaces, a high efficient walking gait limit cycle is found using the method of Poincare shooting with the objective of minimizing the dimensionless specific mechanical cost of transport. Then, an event-based feedback control law is proposed to stabilize the high efficient walking gait. The validity of our control strategies is illustrated by a series of numerical simulations.

关键词： biped robot High Efficient Walking Stability of Limit Cycles

biped walking on level ground with torso using only one actuator

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Science China(Information Sciences) 2013年第11期56卷 256-264页

作者： FENG Shuai Al Yahmadi Amur S. SUN ZengQi State Key Laboratory of Intelligent Technology and Systems Tsinghua National Laboratory for Information Science and Technology Department of Computer Science and TechnologyTsinghua University Beijing Institute of Control Engineering Department of Mechanical and Industrial Engineering College of Engineering Sultan Qaboos UniversityAl-Khod 123 P.O. Box 33Sultanate of Oman

It is well known that a biped robot needs actuators to walk stably on level *** now,a biped robot with torso has needed at least two actuators to achieve *** it be possible for this kind of robot to walk on level ground with only one actuator?This paper responds in the afrmative and proposes a simple control strategy for a planar biped robot with *** this control method,there is only one low gain proportional-derivative(PD)controller between the torso and the stance leg,while the swing leg remains totally *** PD controller utilizes states of both the torso(angle and angular velocity)and the stance *** numerical simulations show that,by adopting this controller,a planar biped robot with torso can walk stably on level ground,and that the robot can walk with a wide range of speeds and high energy efciency by changing the control *** period-one gaits,one of which is stable while the other three are unstable,are found by *** to the literature surveyed,we are the first to have a torso only driven biped robot walk stably on level ground.

关键词： biped robot torso control passive dynamic walking PD controller

Online gait programming of humanoid walking via NMPC

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Journal of Harbin Institute of Technology(New Series) 2010年第4期17卷 445-450页

作者：朱志斌王岩陈兴林 Dept.of Control Science and Engineering School of AstronauticsHarbin Institute of Technology

In order to satisfy the requirement of realtime gait programming of humanoid walking with foot rotation,a kind of modified Nonlinear Model Predictive Control (NMPC) scheme was proposed. Based on setting suitable kinetic and kinematic virtual constraints of Single Support Phase (SSP) and three subphases of Double Support Phase (DSP) ,complex realtime gait programming problem was simplified to four online NMPC dynamic optimization problems. A numerical approach was proposed to transform the dynamical optimization problem to the finite dimensional static optimization problem which can be solved by Sequential Quadratic Programming (SQP) . It can be concluded from simulation that using this method on BIP model can realize online gait programming of dynamic walking with foot rotation and the biped stability can be satisfied such that there is no sliding during walking.

关键词： biped robot NMPC gait programming

维普期刊数据库

Incorporation of Perception-based Information in robot Learning Using Fuzzy Reinforcement Learning Agents

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Journal of Ocean University of Qingdao 2002年第1期1卷 93-100页

作者： ZHOUChangjiu MENGQingchun GUOZhongwen QUWeifen YINBo SchoolofElectricalandElectronicEngineering SingaporePolytechnicSingapore139651 ComputerScienceDepartment OceanUniversityof（Qingdao（Qingdao266003P.R.China StateKeyLaboratoryofIntelligentSystemsandTechnologiesinTsinghuaUniversity Beijing100084P.R.China

robot learning in unstructured environments has been proved to be an extremely challenging problem, mainly because of many uncertainties always present in the real world. Human beings, on the other hand, seem to cope very well with uncertain and unpredictable environments, often relying on perception-based information. Furthermore, humans beings can also utilize perceptions to guide their learning on those parts of the perception-action space that are actually relevant to the task. Therefore, we conduct a research aimed at improving robot learning through the incorporation of both perception-based and measurement-based information. For this reason, a fuzzy reinforcement learning (FRL) agent is proposed in this paper. Based on a neural-fuzzy architecture, different kinds of information can be incorporated into the FRL agent to initialise its action network, critic network and evaluation feedback module so as to accelerate its learning. By making use of the global optimisation capability of GAs (genetic algorithms), a GA-based FRL (GAFRL) agent is presented to solve the local minima problem in traditional actor-critic reinforcement learning. On the other hand, with the prediction capability of the critic network, GAs can perform a more effective global search. Different GAFRL agents are constructed and verified by using the simulation model of a physical biped robot. The simulation analysis shows that the biped learning rate for dynamic balance can be improved by incorporating perception-based information on biped balancing and walking evaluation. The biped robot can find its application in ocean exploration, detection or sea rescue activity, as well as military maritime activity.

关键词： robot learning reinforcement learning agents neural-fuzzy systems genetic algorithms biped robot

维普期刊数据库

Methods Synthesis of Central Pattern Generator Inspired biped Walking Control

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Methods Synthesis of Central Pattern Generator Inspired Bipe...

2015年中国智能自动化学术会议

作者： Chengju Liu Qijun Chen School of Electronics and Information Engineering Tongji University

Bio-inspired locomotion control method is one of the ways to promote the site application of biped robots. This paper synthesizes the main idea and structure of central pattern generator(CPG) inspired biped walking control methods into two kinds of common strategies: joint space control methods and workspace control methods. The key problems of these two approaches are deeply ***, the research direction of the CPG-inspired control method is discussed. The motivation of this paper is to synthesize the current mainly methods for biped robots to present a practical guide to researchers and engineers interested in the CPG-inspired control approaches.

关键词： biped robot Walking control Central pattern generator(CPG) Joint space control Workspace control

Gait Control of Humanoid robots via Fuzzy Logic and Iterative Optimization

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Gait Control of Humanoid Robots via Fuzzy Logic and Iterativ...

第三十届中国控制会议

作者： WANG Li-Yang~(1,2),LIU Zhi~2,ZENG Xiao-Jie~2,ZHANG Yun~2 1.Department of Electronic Engineering,Shimde Polytechnic,Foshan Guangdong 528300,P.R.China 2.Faculty of Automation,Guangdong University of Technology,Guangzhou Guangdong 510006,P.R.China

＜正＞A kind of gait control method via fuzzy logic and iterative optimization is proposed for solving the fatal problem of high energy consumption in practical application of biped robots.A strategy of energy consumption estimation（ECE） and an algorithm of energy-efficiency optimization are proposed based on three important indexes of energy consumption for biped ***,trajectory of the trunk is tuned according to ZMP-based fuzzy rules when leg motions deviate from walking reference trajectory,which ensure the ZMP falling into the stability ***,a strategy of ECE for biped walking robots is proposed,and the energy consumption of the trunk is ***,an iterative optimization algorithm based on ECE is proposed to optimize the estimated trajectory of the trunk which has been derived from fuzzy ZMP tuning model *** proposed method is applied to a robotic *** and experimental results show the validity of the method.

关键词： Energy Efficiency biped robot Zero Moment Point(ZMP) Gait Control