Learning a Fast Walk based on ZMP Control and Hip Height Movement

• Type: Article in International Conference Proceedings Book
• Date: 2014

Authors

shafii, n (Author) Other; lau, n (Author) Other; reis, lp (Author) FCUP

Conference proceedings International

Title: 2014 IEEE International Conference on Autonomous Robot Systems and Competitions, ICARSC 2014

Pages: 181-186

IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC)

Espinho, PORTUGAL, MAY 14-15, 2014

Indexing

ISI Web of Knowledge - 4 Citations

Scopus - 4 Citations

Scientific classification

FOS: Natural sciences > Computer and information sciences

Other information

Authenticus ID: P-009-PXX

DOI: 10.1109/ICARSC.2014.6849783

Abstract (EN): The Linear inverted pendulum model is widely used in biped walking approaches. This model assumes that the hip height is fixed while the robot walks. In this paper, the hip height movement, or vertical Center of Mass (CoM) trajectory, is used by a robot to achieve a faster and more stable walk. For the first time, the hip height movement is modeled in a formal way and its parameters are learned. The inverted pendulum model and a numerical approach are used to control the Zero Moment Point (ZMP) for generating a balanced walk. Covariance Matrix Adaptation Evolution Strategy (CMA-ES) is applied to optimize the hip height trajectory and walking parameters with respect to walking speed and stability. Experimental results are achieved on a simulated NAO robot. A comparison of the results of the proposed gait model (and development approach) with those obtained using fixed hip height shows that fixed height walking is slower than variable height walking.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 6