A Stable Pose Estimation Method for the Biped Robot using Image Information
This paper proposes a balance control scheme for a biped robot to trace an arbitrary path using image information. While moving, it estimates the zero moment point(ZMP) of the biped robot in the next step using a Kalman filter and renders an appropriate balanced pose of the robot. The ZMP can be calculated from the robot's pose, which is measured from the reference object image acquired by a CCD camera on the robot's head. For simplifying the kinematical model, the coordinates systems of individual joints of each leg are aligned and the robot motion is approximated as an inverted pendulum so that a simple linear dynamics, 3D-LIPM(3D-Linear Inverted Pendulum Mode) can be applied. The efficiency of the proposed algorithm has been proven by the experiments performed on unknown trajectory.
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[1] M.Wahde and J.Pettersson, "A brief review of bipedal robotics research”,
Proc. Of the 8th UK Mechatronics Forum Int. Conf., pp.480-488, 2002.
[2] R.Ambrose, Y.Zheng, and B.Wilcox, "Humanoids”, International
Assessment of Research and Development in Robotics, World
Technology Evaluation Center, Inc, pp.41-54, 2006.
[3] Wen Yu, "Stability Analysis of Visual Servoing with Sliding-mode
Estimation and Neural Compensation,” International Journal of Control,
Automation, and Systems, Vol.4, No.5, pp.545-558, 2006..
[4] C.Taylor and J.Ostrowski, "Robust Vision-Based Pose Control,” in
Proceeding IEEE International Conference on Robotics and Automation,
pp.2734-2740, 2000.
[5] Changhyun.C, Sungchul.K, Munsang.K and Jeabok.S, "Macro-Micro
Manipulation with Visual Tracking and its Application to Wheel
Assembly,” International Journal of Control, Automation, and System,
Vol.3, No.3, pp.461-468, 2005.
[6] J. Wang, "Fundamentals of erbium-doped fiber amplifiers arrays
(Periodical style—Submitted for publication),” IEEE J. Quantum
Electron., submitted for publication.
[7] C. J. Kaufman, Rocky Mountain Research Lab., Boulder, CO, private
communication, May 1995.
[8] Y. Yorozu, M. Hirano, K. Oka, and Y. Tagawa, "Electron spectroscopy
studies on magneto-optical media and plastic substrate
interfaces(Translation Journals style),” IEEE Transl. J. Magn.Jpn., vol. 2,
Aug. 1987, pp. 740–741 [Dig. 9th Annu. Conf. Magnetics Japan, 1982, p.
301].
[9] K.Nishiwaki, S.Kagami, Y.Kuniyoshi, M.Inaba, and H.Inoue, "Online
Generation of Humanoid Walking Motion based on a Fast Generation
Method of Motion Pattern that Follows Desired ZMP,” IEEE/RSJ
International Conference on Intelligent Robots and Systems(IROS’02),
Vol.3, pp.2684-2689, 2002.
[10] K.Sorao, T.Murakami, and K.Ohnishi, "A unified approach to ZMP and
gravity center control in biped dynamic stable walking,” in Proceedings
of Advanced intelligent Mechatronics, 1997.
[11] T.Sugihara, Y.Nakamura, and H.Inoue, "Realtime Humanoid Motion
Generation through ZMP Manipulation based on Inverted Pendulum
Control,” IEEE International Conference on Robotics and Automation,
pp.1404-1409, 2002.
[12] S.Kajita, F.Kanehiro, K.Kaneko, K.Fujiwara, K.Harada, K.Yokoi, and
H.Hirukawa, "Biped Walking Pattern Generation by using Preview
Control of Zero-Moment Point,” Proceeding of the 2003 IEEE
International Conference on Robotics and Automation, pp.1620-1626,
2003.
@article{"International Journal of Electrical, Electronic and Communication Sciences:61123", author = "Sangbum Park and Youngjoon Han", title = "A Stable Pose Estimation Method for the Biped Robot using Image Information ", abstract = "This paper proposes a balance control scheme for a biped robot to trace an arbitrary path using image information. While moving, it estimates the zero moment point(ZMP) of the biped robot in the next step using a Kalman filter and renders an appropriate balanced pose of the robot. The ZMP can be calculated from the robot's pose, which is measured from the reference object image acquired by a CCD camera on the robot's head. For simplifying the kinematical model, the coordinates systems of individual joints of each leg are aligned and the robot motion is approximated as an inverted pendulum so that a simple linear dynamics, 3D-LIPM(3D-Linear Inverted Pendulum Mode) can be applied. The efficiency of the proposed algorithm has been proven by the experiments performed on unknown trajectory.
", keywords = "Biped robot, Zero moment point, Balance control, Kalman filter.", volume = "3", number = "2", pages = "317-5", }
