Human-like Inverted Pendulum Trajectory Planning for Adult-size Humanoid Robots Based on Smooth Support Vector Regression

• Main Authors: Yu-De Lien, 連育德
• Other Authors: Chung-Hsien Kuo
• Format: Others
• Language: zh-TW
• Published: 2013
• Online Access: http://ndltd.ncl.edu.tw/handle/17138748622429838653

碩士 === 國立臺灣科技大學 === 電機工程系 === 101 === Development of adult-size humanoid robots is a very challenging research topic. In addition to complicated mechanical design, the robot developer has to deal with locomotion control for improving the walking speed and stability. Linear inverted pendulum model (LIPM) is a popular locomotion approach for controlling biped humanoid robots, and the LIPM approach is used when the robot’s CoM (center of mass) is moving on the plane with a specific height. Such a phenomenon is different to the walking characteristics of human beings. Therefore, this study proposes a human-like inverted pendulum model (HLIPM) for controlling an adult-size humanoid robot. The HLIPM is developed by investigating and emulating the walking characteristics of human beings, and then the parametric locomotion characteristics is further used to dynamically adjust the parameters used in ordinary LIPM approaches. To collect the motion data of human beings, a motion capture system was used for experiments. Twenty-two subjects were recruited for evaluating the different locomotion, such as mark time motion and forward and backward walking with different speed. The motion data is evaluated in terms of smooth support vector regression (SSVR) approach to discover the parametric locomotion characteristics. As a consequence, the SSVR approach is capable of generating parametric locomotion characteristics for virtual CoM height, hip’s plane angle, and torso tilt angle according to different mechanical structures and locomotion commands. To evaluate the performance of the proposed HLIPM, an adult-size humanoid robot with 146 cm tall and 15 kg in weight was used in this thesis. The experiments collected the robot's performance data from a speed-controlled powered treadmill for the locomotion patterns of mark time motion and forward and backward walking with different speed. The stability indices were evaluated with foot clearance stability index (FCSI), lateral swing stability index (LWSI) and hip plane angle stability index (HPASI). The result showed that the stabilities and speeds of walking are improved when compared to ordinary LIPM. Comparing to the LIPM results, the HLIPM improved these three stability indices for at least 16%. Moreover, the maximum stable forward walking speed reached 28 cm/sec (i.e., 1 km/hr), and it improved 11.7% from the LIPM approach. This research have been applied in the 2013 Robocup humanoid league adult size soccer competition, and won the champion of technical challenge, the second place of dribble and kick competition.