0

Full Content is available to subscribers

Subscribe/Learn More  >

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

[+] Author Affiliations
Seungmoon Song

Carnegie Mellon University, Pittsburgh, PA

Young-Jae Ryoo

Mokpo National University, Muan, South Korea

Dennis W. Hong

Virginia Tech, Blacksburg, VA

Paper No. DETC2011-48786, pp. 847-854; 8 pages
doi:10.1115/DETC2011-48786
From:
  • ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 6: 35th Mechanisms and Robotics Conference, Parts A and B
  • Washington, DC, USA, August 28–31, 2011
  • Conference Sponsors: Design Engineering Division and Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5483-9
  • Copyright © 2011 by ASME

abstract

In this paper, we propose and demonstrate an omnidirectional walking engine that achieves stable walking using feedback from an inertial measurement unit (IMU). The 3D linear inverted pendulum model (3D-LIPM) is used as a simplified model of the robot, the zero moment point (ZMP) criterion is used as the stability criterion, and only the feedback from the IMU is utilized for stabilization. The proposed walking engine consists of two parts; the omnidirectional gait generator, and the stability controller. ZMP equations, derived based on the 3D-LIPM, are used in the omnidirectional gait generator. The solutions of the differential equations are directly used which reduces the computation cost compare to other existing methods. Two kinds of feedback controllers are implemented for the stability controller; one is the indirect reference ZMP controller, and the other is the indirect joint controller. The walking engine is tested on a lightweight, full-sized, 21-degree-of-freedom (DOF) humanoid robot CHARLI-L (Cognitive Humanoid Autonomous Robot with Learning Intelligence, version Lightweight) which stands 141 cm tall and weighs only 12.7 kg. The design goals of CHARLI-L are low development cost, lightweight, and simple design, which all match well with the proposed walking engine. The results of the experiments present the efficacy of our approach.

Copyright © 2011 by ASME

Figures

Tables

Interactive Graphics

Video

Country-Specific Mortality and Growth Failure in Infancy and Yound Children and Association With Material Stature

Use interactive graphics and maps to view and sort country-specific infant and early dhildhood mortality and growth failure data and their association with maternal

NOTE:
Citing articles are presented as examples only. In non-demo SCM6 implementation, integration with CrossRef’s "Cited By" API will populate this tab (http://www.crossref.org/citedby.html).

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In