In this article, an online adaptation algorithm for bipedal walking on uneven surfaces with height uncertainty is proposed. To generate walking patterns on flat terrains, the trajectories in the task space are planned to satisfy the dynamic balance and slippage avoidance constraints and also to guarantee smooth landing of the swing foot. To ensure smooth landing of the swing foot on surfaces with height uncertainty, the preplanned trajectories in the task space should be adapted. The proposed adaptation algorithm consists of two stages. In the first stage, once the swing foot reaches its maximum height, the supervisory control is initiated until the touch is detected. After the detection, the trajectories in the task space are modified to guarantee smooth landing. In the second stage, this modification is preserved during the double support phase and released in the next single support phase. Effectiveness of the proposed online adaptation algorithm is experimentally verified through realization of the walking patterns on the SURENA III humanoid robot, designed and fabricated at Center of Advanced Systems and Technologies. The walking is tested on a surface with various flat obstacles, where the swing foot is prone to land on the ground either soon or late.
KhadivMMoosavianSA. A low friction demanding approach in gait planning for humanoid robots during 3D manoeuvres. J Appl Mech2014; 45: 47–60.
2.
KajitaSKanehiroFKanekoK. Biped walking pattern generation by using preview control of zero-moment point. In: IEEE international conference on robotics and automation, 2003 proceedings ICRA’03, Taipei, Taiwan, 14–19 September 2003, pp.1620–1626. New York: IEEE.
3.
HaradaKKajitaSKanekoK. An analytical method for real-time gait planning for humanoid robots. Int J Hum Robot2006; 3: 1–19.
4.
KhadivMMoosavianSAAYousefi-KomaA. Optimal gait planning for humanoids with 3D structure walking on slippery surfaces. Robotica. Epub ahead of print 1September2015. DOI: 10.1017/S0263574715000715.
5.
VukobratovićMStepanenkoJ. Mathematical models of general anthropomorphic systems. Math Biosci1973; 17: 191–242.
6.
VukobratovićMBorovacB. Zero-moment point—thirty five years of its life. Int J Hum Robot2004; 1: 157–73.
7.
KajitaSKanehiroFKanekoK. The 3D linear inverted pendulum mode: A simple modeling for a biped walking pattern generation. In: IEEE/RSJ international conference on intelligent robots and systems, 2001 proceedings, Maui, HI, 29 October–3 November 2001, pp.239–246. New York: IEEE.
8.
TakenakaTMatsumotoTYoshiikeT. Real time motion generation and control for biped robot—1st report: walking gait pattern generation. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009 IROS, St. Louis, MO, 11–15 October 2009, pp.1084–1091. New York: IEEE.
9.
BuschmannTLohmeierSBachmayerM. A collocation method for real-time walking pattern generation. In: 2007 7th IEEE-RAS international conference on humanoid robots, Pittsburgh, PA, USA29 November–1 December 2007, pp.1–6. New York: IEEE.
10.
HuangQYokoiKKajitaS. Planning walking patterns for a biped robot. IEEE T Robotic Autom2001; 17: 280–289.
11.
DauV-HChewC-MPooA-N. Achieving energy-efficient bipedal walking trajectory through GA-based optimization of key parameters. Int J Hum Robot2009; 6: 609–629.
12.
ParkHAAliMALeeCG. Closed-form inverse kinematic position solution for humanoid robots. Int J Hum Robot2012; 9: 1250022.
13.
LofflerKGiengerMPfeifferF. Sensors and control concept of a biped robot. IEEE T Ind Electron2004; 51: 972–980.
14.
MoosavianSAATakhmarAAlghoonehM. Regulated sliding mode control of a biped robot. In: International conference on mechatronics and automation, 2007 ICMA, Harbin, Heilongjiang, China5–8 August 2007, pp.1547–152. New York: IEEE.
15.
KwonOParkJH. Asymmetric trajectory generation and impedance control for running of biped robots. Auton Robot2009; 26: 47–78.
16.
HuangQNakamuraY. Sensory reflex control for humanoid walking. IEEE T Robot2005; 21: 977–984.
17.
KimJ-YParkI-WOhJ-H. Walking control algorithm of biped humanoid robot on uneven and inclined floor. J Intell Robot Syst2007; 48: 457–484.
18.
KajitaSMorisawaMMiuraK. Biped walking stabilization based on linear inverted pendulum tracking. In: 2010 IEEE/RSJ international conference on intelligent robots and systems, Taipei, Taiwan18–22 October 2010, pp.4489–4496. New York: IEEE.
19.
AsmarDCJalghaBFakihA. Humanoid fall avoidance using a mixture of strategies. Int J Hum Robot2012; 9: 1250002.
20.
FerreiraJPCrisostomoMCoimbraAP. SVR controller for a biped robot in the sagittal plane with human-based ZMP trajectory reference and gait. Int J Hum Robot2012; 9: 1250018.
21.
MorisawaMKanehiroFKanekoK. Reactive biped walking control for a collision of a swinging foot on uneven terrain. In: 2011 11th IEEE-RAS international conference on humanoid robots (humanoids), Bled, Slovenia26–28 October 2011, pp.768–773. New York: IEEE.
22.
SonBGKimJTParkJH. Impedance control for biped robot walking on uneven terrain. In: 2009 IEEE international conference on robotics and biomimetics (ROBIO), Guilin, China19–23 December 2009, pp.239–244. New York: IEEE.
23.
NishiwakiKChestnuttJKagamiS. Planning and control of a humanoid robot for navigation on uneven multi-scale terrain. In: Experimental robotics. New Delhi and Agra, IndiaSpringer, 2014, pp.401–415.
24.
HashimotoKSugaharaYSunazukaH. Biped landing pattern modification method with nonlinear compliance control. In: 2006 IEEE international conference on robotics and automation, 2006 ICRA 2006 proceedings, Orlando, FL, USA15–19 May 2006, pp.1213–1218. New York: IEEE.
25.
SugaharaYHosobataTMikuriyaY. Realization of stable dynamic walking by a parallel bipedal locomotor on uneven terrain using a virtual compliance control. In: 2003 IEEE/RSJ international conference on intelligent robots and systems, 2003 (IROS 2003) proceedings, Las Vegas, Nevada, USA27–31 October 2003, pp.595–600. New York: IEEE.
26.
SatoTSakainoSOhnishiK. Adaptation method using environmental modes for biped robot with toe and heel joints on unknown uneven terrain. In: 2011 IEEE international conference on Mechatronics (ICM), Istanbul, Turkey13–15 April 2011, pp.869–874. New York: IEEE.
27.
HashimotoKKangH-jMotohashiH. Terrain-adaptive biped walking control using three-point contact foot mechanism detectable ground surface. In: Advances on theory and practice of robots and manipulators. Udine, ItalySpringer, 2014, pp.255–263.
28.
KangH-jHashimotoKKondoH. Realization of biped walking on uneven terrain by new foot mechanism capable of detecting ground surface. In: 2010 IEEE international conference on robotics and automation (ICRA), Anchorage, AK, 3–8 May 2010, pp.5167–5172. New York: IEEE.
29.
SadedelMYousefi-KomaAKhadivM. Adding low-cost passive toe joints to the feet structure of SURENA III humanoid robot. Robotica. Epub ahead of print 22November2016. DOI: 10.1017/S026357471600059X.
30.
EzatiMKhadivMMoosavianSAA. Effects of toe-off and heel-off motions on gait performance of biped robots. In: 2015 3rd RSI international conference on robotics and mechatronics (ICROM), Tehran, Iran7–9 October 2015, pp.7–12. New York: IEEE.
31.
KhadivMMoosavianSAASadedelM. Dynamics modeling of fully-actuated humanoids with general robot-environment interaction. In: 2014 second RSI/ISM international conference on robotics and mechatronics (ICRoM), Tehran, Iran15–17 October 2014, pp.233–238. New York: IEEE.
