Humans utilize the configuration with extended knees to achieve efficient walk. A humanoid robot, however,
cannot do so, since this posture is a singular configuration. In order to tackle this problem, in our previous work, a walking
pattern generator based on the spherical inverted pendulum model has been proposed. It enables to generate up-and-down
waist motions and utilizes the singularity neighborhood in the middle of each support phase. However, the spherical inverted
pendulum model cannot move the ZMP during each single support phase. To tackle this problem, we propose a new approach
to generate a walking pattern based on a Spherical Inverted Pendulum model with an Underfloor Pivot (the SIPUP method).
With this method, the ZMP gains mobility during each singleleg support phase, and walking with a smaller acceleration
is achieved. In addition, it becomes easy to utilize singularity neighborhood. As a result, the knee joint can be almost fully
extended (less than 0.01 rad). Experimental results show the effectiveness of our approach.
Dynamic Walk with SIPUP method: Video1 (1.2Mbyte) in 2007
Fig. 1 Observation by video image
Fig. 2 Walking motion of Hoap-1 with SC approach
- Koki Kameta, Akinori Sekiguchi, Yuichi Tsumaki, Dragomir
N. Nenchev, Walking Control Using the SC Approach for Humanoid
Robot, Proceedings of the IEEE-RAS International Conference on
Humanoid Robots (Humanoids2005), pp. 289-294, 2005.
- K. Takahashi, M. Noda, D. N. Nenchev, Y. Tsumaki, A. Sekiguchi,
Static Walk of a Humanoid Robot Based on the Singularity-Consistent
Method, Proceedings of the 2006 IEEE/RSJ International Conference on
Intelligent Robots and Systems, Paper ID:1070, 2006.
- Akinori Sekiguchi, Yuki Atobe, Koki Kameta, Yuichi Tsumaki and
Dragomir Nenchev, A Walking Pattern Generator around Singularity,
Proceedings of the IEEE-RAS International Conference on Humanoid
Robots (Humanoids2006), pp. 270-275, 2006.
- Akinori Sekiguchi, Koki Kameta, Yuichi Tsumaki, Dragomir
Nenchev, Biped Walk Based on Vertical Pivot Motion of Linear
Inverted Pendulum, Proceedings of the 2007 IEEE/ASME International
Conference on Advanced Intelligent Mechatronics, Zurich,
Switzerland, 165, 2007.
- Koki Kameta, Akinori Sekiguchi, Yuichi Tsumaki, Yoshikazu
Kanamiya (D.N. Nenchev), Walking Control around Singurlity Using a
Spherical Inverted Pendulum with an Underfloor Pivot, The IEEE-RAS
International Conference on Humanoid Robots (Humanoids2007),
Pittsburgh, Pennsylvania, 2007.