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Trajectory-free dynamic locomotion using key trend states for biped robots with point feet

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Conclusion

This study proposed a human-inspired-based KTS design method and control framework for UBRs. A trajectory-free motion planning method was directly applied to joint angles, and it is simple and convenient to design KTSs according to human motion. We put forward several parts of the balance control method to achieve realtime dynamic and stable movement. This method can support large joint trajectory errors and avoid optimization of a complex model. Our methods can run and control the robot at 1 kHz. Based on this motion generation and control framework, we realized a walking experiment of the biped robot. This planning method has being used to generate a running motion.

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Acknowledgements

This work was supported by National Key Research and Development Program of China (Grant No. 2018YFE0126200) and National Natural Science Foundation of China (Grant Nos. 61973039, 62073041).

Author information

Authors and Affiliations

  1. School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, 100081, China

    Lianqiang Han, Xuechao Chen, Zhangguo Yu & Qiang Huang

  2. Key Laboratory of Biomimetic Robots and Systems, Ministry of Education, Beijing, 100081, China

    Xuechao Chen, Zhangguo Yu & Qiang Huang

  3. Intelligent Mine Research Institute, China Coal Research Institute Co., Ltd., Beijing, 100013, China

    Xishuo Zhu

  4. Department of Mechanical Engineering Informatics, Meiji University, Tokyo, Kanagawa, 214-8571, Japan

    Kenji Hashimoto

  5. Humanoid Robotics Institute (HRI), Waseda University, Tokyo, 162-8480, Japan

    Kenji Hashimoto

Authors
  1. Lianqiang Han
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  2. Xuechao Chen
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  3. Zhangguo Yu
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  4. Xishuo Zhu
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  5. Kenji Hashimoto
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  6. Qiang Huang
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Corresponding authors

Correspondence to Xuechao Chen or Zhangguo Yu.

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Supporting information

Appendixes A–C. The supporting information is available online at info.scichina.com and link.springer.com. The supporting materials are published as submitted, without typesetting or editing. The responsibility for scientific accuracy and content remains entirely with the authors.

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Han, L., Chen, X., Yu, Z. et al. Trajectory-free dynamic locomotion using key trend states for biped robots with point feet. Sci. China Inf. Sci. 66, 189201 (2023). https://doi.org/10.1007/s11432-021-3450-5

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  • DOI: https://doi.org/10.1007/s11432-021-3450-5

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