Design and Implementation of Omni-directional Walking System for Humanoid Robot Chi-Tai Cheng, Ching-Chang Wong, Hao-Che Chen, Yueh-Yang Hu, I-Hsiang Tseng, and Li-Feng Chen Department of Electrical Engineering, Tamkang University Tamsui District, New Taipei City, Taiwan, ROC
[email protected] [email protected]
Abstract. An omni-direction walking system for humanoid robot is presented in this paper. This method combines a mark time motion and a walking trajectory planning system. Three sub-motions, including leg shifting, leg lifting and leg opening, with same frequency are proposed to accomplish the mark time motion. The proposed omni-directional walking system is established to make robot walk fast in the soccer field. Keywords: Omni-directional Walking, Zero-motion point, humanoid robot.
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Introduction
New robotic technology in human’s life and industry area has been developed rapidly. The biped robot is most popular and hardest field because of its walking problem. Robot Soccer Games are numbers of robot play soccer in a specific limitation and rules. The research combines lots of fields, theories and technologies to accomplish this game. There are two international groups (RoboCup and FIRA), and international conference holding the robot soccer games. The proposed omni-directional walking system is established to make robot walk fast in the soccer field.
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Method of Omni-directional Walking
There are lots of methods to plan trajectory, such as cubic curve or pendulum curve. The pendulum curve [3] is used in this paper to simplify the parameters of stepping height, walking period and shifting margin. The XY panel and YZ panel is analyzed to simplify the walking system. The original step is generated by three parts: Leg Shifting Leg Lifting and Leg Opening, which are shown in Fig. 1(a), (b) and (c).The walking trajectory planning method consists of forward-backward direction, rotation, and side direction. The combination of these three components is able to present the omni-direction walking. The motion of forward or backward is affected by height of leg lifting and leg shifting. Forward or backward is decided by stride and direction, the motion is similar passive walking, the motions are shown in Fig. 1(d) and (e).
G. Herrmann et al. (Eds.): FIRA-TAROS 2012, LNAI 7429, pp. 428–429, 2012. © Springer-Verlag Berlin Heidelberg 2012
Design and Implementation of Omni-directional Walking System for Humanoid Robot
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Z Max X trunk
X trunk (t ) Max − X trunk
X feet(t)
X Max feet
Z Max feet Z feet(t X
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Fig. 1. Schematic of motions: (a) motion of leg shifting, (b) motion of leg shorting, and (c) motion of leg opening, (d) motion of forward or backward, and (e) motion of rotation
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(b)
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Fig. 2. The snapshots of robot executing the walking forward with right turn
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Experimental Results
The experimental results in this paper are shown in Fig. 2. The real robot executes the motion of go forward with right turn at the same time. The experimental results illustrate the effectiveness of the proposed method and demonstrate the omni-direction walking.
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Conclusion
An omni-direction walking system for humanoid robot is presented in this paper. The walking trajectory planning method consists of forward-backward direction, rotation, and side direction. The combination of these three components is able to present the omni-direction walking. The motion module is simplified to reduce the calculation of walking motions, the parameters of motions, and the time of walking implementation. The experimental results illustrate the effectiveness of the proposed method. Acknowledgment. This research was supported in part by the National Science Council (NSC) of the Republic of China under contract NSC 98-2218-E-032-001-.
Reference [1] Erbatur, K., Kurt, O.: Natural ZMP trajectories for biped robot reference generation. IEEE Trans. Ind. Electron. 56(3), 835–845 (2009)
