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Development of an Omnidirectional Walking Engine for Full-Sized - - PowerPoint PPT Presentation

Aug 29, 2023 137 likes •398 views

Development of an Omnidirectional Walking Engine for Full-Sized Lightweight Humanoid Robots Seungmoon Song Young-Jae Ryoo Dennin W. Hong ASME 2010 International Design Engineering Technical Conferences August 29, 2011, Washington, DC, USA

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SLIDE 1

Development of an Omnidirectional Walking Engine for Full-Sized Lightweight Humanoid Robots

Seungmoon Song Young-Jae Ryoo Dennin W. Hong ASME 2010 International Design Engineering Technical Conferences August 29, 2011, Washington, DC, USA

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SLIDE 2

Outline

  • CHARLI-L
  • ZMP Based Walking
  • Walking Engine
  • Experimental Results
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SLIDE 3

CHARLI-L

  • Design concept
  • Stable walking
  • Light weight
  • Proper weight balance
  • Low cost
  • Single-board Computer

– Vision – Motion planning – Autonomous behaviors – Walking engine

  • Walking engine with low computational load

which requires less sensory data

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SLIDE 4
  • CHARLI-L
  • ZMP Based Walking
  • Walking Engine
  • Experimental Results
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SLIDE 5

ZMP (Zero Moment Point)

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SLIDE 6

ZMP Based Walking

  • Joint Position Control
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SLIDE 7
  • CHARLI-L
  • ZMP Based Walking
  • Walking Engine
  • Experimental Results
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SLIDE 8

Walking Engine

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SLIDE 9

Omnidirectional Gait Generator

Next Pose Generator

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SLIDE 10

Omnidirectional Gait Generator : Next Step Pose

(vx, vy, wz)

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SLIDE 11

Omnidirectional Gait Generator

Next Pose Generator

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SLIDE 12

Omnidirectional Gait Generator

  • px, py = 0 (rZMP)
  • x0, y0 = current pelvis position
  • xT, yT = end pelvis position

: Next Pose

(x0, y0) (xT, yT) (px, py)

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SLIDE 13

Omnidirectional Gait Generator

  • px, py = 0
  • x0, y0 = current pelvis position
  • xT, yT = end pelvis position

: Next Pose

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SLIDE 14

Omnidirectional Gait Generator

x-axis y-axis

  • px, py = 0
  • x0, y0 = current pelvis position
  • xT, yT = end pelvis position

: Next Pose

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SLIDE 15

Omnidirectional Gait Generator

Next Pose Generator

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SLIDE 16

Stability Controller

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SLIDE 17

Stability Controller : Gait Feedback Controller

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SLIDE 18

Stability Controller : Gait Feedback Controller

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SLIDE 19

Stability Controller : Joint Feedback Controller

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SLIDE 20

Stability Controller

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SLIDE 21
  • CHARLI-L
  • ZMP Based Walking
  • Walking Engine
  • Experimental Results
  • Discussion
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SLIDE 22

Experimental Results : Omnidirectional

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SLIDE 23

Experimental Results : Commanded rZMP and CoM

x-axis Feedback Open-loop y-axis

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SLIDE 24

Experimental Results : Angular Data of the Pelvis

Role

10○ 5○ 2○ 0.5○

Feedback Open-loop Pitch

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SLIDE 25

Summary

  • Low computational load with a single IMU
  • ZMP based walking

– ZMP equation – Joint Position

  • Gait generator
  • Feedback controller
  • CHALI-L1 walks