A Bipedal Locomotion Planning Based on Linear Inverted Pendulum Model with Adopting COM Model Uncertainty

• Main Authors: Jui-Chou Chung, 鍾睿洲
• Other Authors: Chung-Hsien Kuo
• Format: Others
• Language: zh-TW
• Published: 2012
• Online Access: http://ndltd.ncl.edu.tw/handle/27074097669562996960

碩士 === 國立臺灣科技大學 === 電機工程系 === 100 === Linear inverted pendulum model (LPIM) is usually used to generate real-time bipedal locomotion of a humanoid robot because of considering lower computational loads. LIPM uses the operational height of center of mass (CoM) of a biped robot as a primary parameter to generate locomotion trajectory. However, the operational height of CoM is hardly determined because of complicated mechanical structures of biped humanoid robots. Improper operational CoM height setting would induce locomotion stability problems. In addition, extra masses applied on the robot will also alter the operational CoM height setting. Therefore, self-adjustment of the operational CoM height is necessary to the study of bipedal locomotion stability. In this study, a gyro sensor is placed at the center of hips to measure the variation of angular velocities of the robot’s hip plane. The angular velocities in a cycle are further used to define the cycle-based gyro stability index (CBGSI). In addition to evaluate the stability of bipedal locomotion, the CBGSI is also capable of realizing a closed-loop proportional controller to automatically adjust the operational CoM height setting to improve the stability of bipedal locomotion. Finally, a 19-degrees-of-freedom biped humanoid robot with 52 cm in height is developed in this study to evaluate the performance of the proposed operational CoM height adjustment approach based on an omni-locomotion controller.