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Footstep adaptation strategy for reactive omnidirectional walking in humanoid robots

Published online by Cambridge University Press:  12 April 2017

Jiwen Zhang ,
Zeyang Xia ,
Li Liu  and
Ken Chen
Jiwen Zhang
Affiliation:
Department of Mechanical Engineering, Tsinghua University, Beijing 100084, China. E-mails: jwzhang@mail.tsinghua.edu.cn, liuli@tsinghua.edu.cn, kenchen@tsinghua.edu.cn Beijing Key Lab of Precision/Ultra-precision Manufacturing Equipments and Control, Tsinghua University, Beijing 100084, China The State Key Laboratory of Tribology, Tsinghua University, Beijing 100084, China
Zeyang Xia
Affiliation:
Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen 518055, China. E-mail: zeyang.xia@ieee.org
Li Liu
Affiliation:
Department of Mechanical Engineering, Tsinghua University, Beijing 100084, China. E-mails: jwzhang@mail.tsinghua.edu.cn, liuli@tsinghua.edu.cn, kenchen@tsinghua.edu.cn Beijing Key Lab of Precision/Ultra-precision Manufacturing Equipments and Control, Tsinghua University, Beijing 100084, China The State Key Laboratory of Tribology, Tsinghua University, Beijing 100084, China
Ken Chen*
Affiliation:
Department of Mechanical Engineering, Tsinghua University, Beijing 100084, China. E-mails: jwzhang@mail.tsinghua.edu.cn, liuli@tsinghua.edu.cn, kenchen@tsinghua.edu.cn Beijing Key Lab of Precision/Ultra-precision Manufacturing Equipments and Control, Tsinghua University, Beijing 100084, China The State Key Laboratory of Tribology, Tsinghua University, Beijing 100084, China
*
*Corresponding author. Email: kenchen@tsinghua.edu.cn
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Summary

Stability, high response quality and rapidity are required for reactive omnidirectional walking in humanoids. Early schemes focused on generating gaits for predefined footstep locations and suffered from the risk of falling over because they lacked the ability to suitably adapt foot placement. Later methods combining stride adaptation and center of mass (COM) trajectory modification experienced difficulties related to increasing computing loads and an unwanted bias from the desired commands. In this paper, a hierarchical planning framework is proposed in which the footstep adaption task is separated from that of COM trajectory generation. A novel omnidirectional vehicle model and the inequalities deduced therefrom are adopted to describe the inter-pace connection relationship. A constrained nonlinear optimization problem is formulated and solved based on these inequalities to generate the optimal strides. A black-box optimization problem is then constructed and solved to determine the model constants using a surrogate-model-based approach. A simulation-based verification of the method and its implementation on a physical robot with a strictly limited computing capacity are reported. The proposed method is found to offer improved response quality while maintaining rapidity and stability, to reduce the online computing load required for reactive walking and to eliminate unnecessary bias from walking intentions.

Keywords

Humanoid robotsOmnidirectionalReactive walkingInverted pendulum modelNonlinear optimizationSurrogate model optimization
Type
Articles
Information
Robotica , Volume 36 , Issue 1 , January 2018 , pp. 57 - 77
Copyright
Copyright © Cambridge University Press 2017 

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