Lower energy Gait Pattern Generation in 5-Link Biped Robot Using Image Processing
The purpose of this study is to find natural gait of
biped robot such as human being by analyzing the COG (Center Of
Gravity) trajectory of human being's gait. It is discovered that human
beings gait naturally maintain the stability and use the minimum
energy. This paper intends to find the natural gait pattern of biped
robot using the minimum energy as well as maintaining the stability by
analyzing the human's gait pattern that is measured from gait image on
the sagittal plane and COG trajectory on the frontal plane. It is not
possible to apply the torques of human's articulation to those of biped
robot's because they have different degrees of freedom. Nonetheless,
human and 5-link biped robots are similar in kinematics. For this, we
generate gait pattern of the 5-link biped robot by using the GA
algorithm of adaptation gait pattern which utilize the human's ZMP
(Zero Moment Point) and torque of all articulation that are measured
from human's gait pattern. The algorithm proposed creates biped
robot's fluent gait pattern as that of human being's and to minimize
energy consumption because the gait pattern of the 5-link biped robot
model is modeled after consideration about the torque of human's each
articulation on the sagittal plane and ZMP trajectory on the frontal
plane. This paper demonstrate that the algorithm proposed is superior
by evaluating 2 kinds of the 5-link biped robot applied to each gait
patterns generated both in the general way using inverse kinematics
and in the special way in which by considering visuality and
efficiency.
[1] L. Magdalena, "Learning Gait Patterns for the Fuzzy Synthesis of Biped
Walk," IEEE IFCIS, pp.248-250, 1994.
[2] Q. Huang, "Planning Walking Patterns for a Biped Robot," IEEE ICRA
Vol. 17, pp. 280-289, 2001.
[3] L. Endo, "Co-evolution of Morphology and Walking Pattern of Biped
Humanoid Robot using Evolutionary Computation-Evolutionary
Designing Method and its Evaluation," IEEE IROS, Vol. 1, pp. 340-345,
2003.
[4] M. Vukobratobic and D. Juricic, "Contribution to the Synthesis of Biped
Gait," IEEE Trans. Bio-Med. Eng, Vol. 1, pp. 1-6, 1996.
[5] S. Kajita, F. Kanehiro, K. Kaneko, k. Yokoi and H. Hirukawa, "The 3D
Linear Inverted Pendulum Mode : A simple modeling for a biped walking
pattern generation," Proc. of the 2001 IEEE/RSJ, Vol. 1, pp. 239-246,
2001.
[6] Q. Huang, K. Shuuji, N. Koyachi, K. Kaneko, K. Yokoi, H. Arai, K.
Komoriya and K. Tanie, "A High Stability, Smooth Walking pattern for a
Biped Robot," IEEE ICRA, pp. 65-71, 1999.
[7] Arbulu, "ZMP Human Measure System," IEEE Climbing-Walking
Robots, pp. 433-440, 2006.
[8] M. Morisawa, S. kajita, K. Kaneko and K. Harada, "Pattern Generation of
Biped Walking Constrained on Parametric Surface," IEEE ICRA, pp.
2405-2410, 2005.
[9] Y. Hasegawa, "Trajectory Generation for Biped Locomotion Robot,"
Mechatronics, Vol. 10, pp. 67-89, 2000.
[10] A. Borghese, L. Bianchi and F. Lacquaniti, "Kinematic determinants of
Human Locomotion," Journal of Physiology, pp. 863-879, 1996.
[11] Xiuping Mu and Qiong Wu, "A Complete dynamics model of five-link
bipedal walking," Proceeding of american control Conference, pp.
4926-4931, 2003.
[12] Xiuping Mu and Qiong Wu, "Development of a complete dynamic model
of a planar five-link biped and sliding mode control of its locomotion
during the double support phase," Int. Journal of control, Vol. 77, no. 8,
pp. 789-799, 2004.
[13] S. Kajita and K. Tani, "Study of Dynamic Biped Locomotion on Rugged
Terrain," ICAR, Vol. 1, pp.741-746, 1991.
[1] L. Magdalena, "Learning Gait Patterns for the Fuzzy Synthesis of Biped
Walk," IEEE IFCIS, pp.248-250, 1994.
[2] Q. Huang, "Planning Walking Patterns for a Biped Robot," IEEE ICRA
Vol. 17, pp. 280-289, 2001.
[3] L. Endo, "Co-evolution of Morphology and Walking Pattern of Biped
Humanoid Robot using Evolutionary Computation-Evolutionary
Designing Method and its Evaluation," IEEE IROS, Vol. 1, pp. 340-345,
2003.
[4] M. Vukobratobic and D. Juricic, "Contribution to the Synthesis of Biped
Gait," IEEE Trans. Bio-Med. Eng, Vol. 1, pp. 1-6, 1996.
[5] S. Kajita, F. Kanehiro, K. Kaneko, k. Yokoi and H. Hirukawa, "The 3D
Linear Inverted Pendulum Mode : A simple modeling for a biped walking
pattern generation," Proc. of the 2001 IEEE/RSJ, Vol. 1, pp. 239-246,
2001.
[6] Q. Huang, K. Shuuji, N. Koyachi, K. Kaneko, K. Yokoi, H. Arai, K.
Komoriya and K. Tanie, "A High Stability, Smooth Walking pattern for a
Biped Robot," IEEE ICRA, pp. 65-71, 1999.
[7] Arbulu, "ZMP Human Measure System," IEEE Climbing-Walking
Robots, pp. 433-440, 2006.
[8] M. Morisawa, S. kajita, K. Kaneko and K. Harada, "Pattern Generation of
Biped Walking Constrained on Parametric Surface," IEEE ICRA, pp.
2405-2410, 2005.
[9] Y. Hasegawa, "Trajectory Generation for Biped Locomotion Robot,"
Mechatronics, Vol. 10, pp. 67-89, 2000.
[10] A. Borghese, L. Bianchi and F. Lacquaniti, "Kinematic determinants of
Human Locomotion," Journal of Physiology, pp. 863-879, 1996.
[11] Xiuping Mu and Qiong Wu, "A Complete dynamics model of five-link
bipedal walking," Proceeding of american control Conference, pp.
4926-4931, 2003.
[12] Xiuping Mu and Qiong Wu, "Development of a complete dynamic model
of a planar five-link biped and sliding mode control of its locomotion
during the double support phase," Int. Journal of control, Vol. 77, no. 8,
pp. 789-799, 2004.
[13] S. Kajita and K. Tani, "Study of Dynamic Biped Locomotion on Rugged
Terrain," ICAR, Vol. 1, pp.741-746, 1991.
@article{"International Journal of Mechanical, Industrial and Aerospace Sciences:56702", author = "Byounghyun Kim and Youngjoon Han and Hernsoo Hahn", title = "Lower energy Gait Pattern Generation in 5-Link Biped Robot Using Image Processing", abstract = "The purpose of this study is to find natural gait of
biped robot such as human being by analyzing the COG (Center Of
Gravity) trajectory of human being's gait. It is discovered that human
beings gait naturally maintain the stability and use the minimum
energy. This paper intends to find the natural gait pattern of biped
robot using the minimum energy as well as maintaining the stability by
analyzing the human's gait pattern that is measured from gait image on
the sagittal plane and COG trajectory on the frontal plane. It is not
possible to apply the torques of human's articulation to those of biped
robot's because they have different degrees of freedom. Nonetheless,
human and 5-link biped robots are similar in kinematics. For this, we
generate gait pattern of the 5-link biped robot by using the GA
algorithm of adaptation gait pattern which utilize the human's ZMP
(Zero Moment Point) and torque of all articulation that are measured
from human's gait pattern. The algorithm proposed creates biped
robot's fluent gait pattern as that of human being's and to minimize
energy consumption because the gait pattern of the 5-link biped robot
model is modeled after consideration about the torque of human's each
articulation on the sagittal plane and ZMP trajectory on the frontal
plane. This paper demonstrate that the algorithm proposed is superior
by evaluating 2 kinds of the 5-link biped robot applied to each gait
patterns generated both in the general way using inverse kinematics
and in the special way in which by considering visuality and
efficiency.", keywords = "5-link biped robot, gait pattern, COG (Center OfGravity), ZMP (Zero Moment Point).", volume = "3", number = "2", pages = "177-8", }