Walking Motion Generation and Neuro-Fuzzy Control with Push Recovery for Humanoid Robot

Paul Erick Mendez Monroy

Abstract


Push recovery is an essential requirement for a humanoid robot with the objective of safely performing tasks within a real dynamic environment. In this environment, the robot is susceptible to external disturbance that in some cases is inevitable, requiring push recovery strategies to avoid possible falls, damage in humans and the environment. In this paper, a novel push recovery approach to counteract disturbance from any direction and any walking phase is developed. It presents a pattern generator with the ability to be modified according to the push recovery strategy. The result is a humanoid robot that can maintain its balance in the presence of strong disturbance taking into account its magnitude and determining the best push recovery strategy. Push recovery experiments with different disturbance directions have been performed using a 20 DOF Darwin-OP robot. The adaptability and low computational cost of the whole scheme allows is incorporation into an embedded system.

Keywords


push recovery, neuro-fuzzy systems, reinforcement learning, biped walking

Full Text:

PDF

References


Adiwahono A.H., Chew C.M., Liu B. (2013); Push recovery through walking phase modification for bipedal locomotion, International Journal of Humanoid Robotics, DOI: http://dx.doi.org/10.1142/S0219843613500229, 10(3), 1350022, 2013. https://doi.org/10.1142/S0219843613500229

Allgeuer P., Behnke S.(2014); Fused angles for body orientation representation, Proceedings of 9th Workshop on Humanoid Soccer Robots of the IEEE-RAS Int. Conf. on Humanoid Robots (Humanoids), DOI: 10.1109/IROS.2015.7353399, 366-373, 2014. https://doi.org/10.1109/IROS.2015.7353399

Faber F., Behnke S. (2007); Stochastic optimization of bipedal walking using gyro feedback and phase resetting, 7th IEEE-RAS International Conference on Humanoid Robots, 203-209, doi: 10.1109/ICHR.2007.4813869, 2007. https://doi.org/10.1109/ICHR.2007.4813869

Fuller R. (2013); Introduction to neuro-fuzzy systems, Vol. 2, Springer Science and Business Media, 2013.

Hyon S.H., Osu R., Otaka Y. (2009); Integration of multi-level postural balancing on humanoid robots, IEEE Int. Conf. Robotics and Automation (ICRA), doi: 10.1109/ROBOT.2009.5152434, 1549-1556, 2009. https://doi.org/10.1109/ROBOT.2009.5152434

Komura T., Leung H., Kudoh S., Kuffner J. (2005); A feedback controller for biped humanoids that can counteract large perturbations during gait, IEEE Int. Conf. Robotics and Automation (ICRA), Barcelona, Spain, 1989-1995, 2005.

Koolen T., de Boer T., Rebula J.R., Goswami A., Pratt J.E. (2012): Capturability-based analysis and control of legged locomotion: Theory and application to three simple gait models - Part 1, Int. J. of Robotics Research, 31(9), 1094-1113, 2012. https://doi.org/10.1177/0278364912452673

Missura M., Behnke S. (2015); Gradient-Driven Online Learning of Bipedal Push Recovery, IEEE/RSJ, Int. Conf. on Intelligent Robots and Systems (IROS), Hamburg, Germany, doi: 10.1109/IROS.2015.7353402, 387-392, 2015. https://doi.org/10.1109/IROS.2015.7353402

Missura M., Behnke S. (2013); Omnidirectional Capture Steps for Bipedal Walking, The IEEE-RAS Int. Conf. on Humanoid Robots (Humanoids), 14-20, doi: 10.1109/HUMANOIDS. 2013.7029949, 2013.

Park J.-W., Kim J.-Y., Oh J.-H. (2008); Online Walking Pattern Generation and Its Application to a Biped Humanoid Robot - KHR-3 (HUBO), Advanced Robotics, 22(2), 159-190, 2008.

Pratt J., Carff J., Drakunov S., Goswami A. (2006); Capture point: A step toward humanoid push recovery, IEEE-RAS Int. Conf. Humanoid Robots, Genova, Italy, 200-207, 2006.

Pratt J.E., Koolen T., de Boer T., Rebula J.R., Cotton S., Carffer J., Johnson M., Neuhaus P.D. (2012); Capturability-based analysis and control of legged locomotion: Application to M2V2, a lower-body humanoid - Part 2, Int. J. of Robotics Research, 31(10), 1117-1133, 2012. https://doi.org/10.1177/0278364912452762

Ranganathan A. (2004), The Levenberg-Marquardt Algorithm, Tutorial on LM algorithm, 2004.

Rebula J., Pratt J., Canas F., Goswami A. (2007); Learning capture point for improved humanoid push recovery, IEEE-RAS Int. Conf. Humanoid Robots, Pittsburgh, PA, doi: 10.1109/ICHR.2007.4813850, 65-72, 2007. https://doi.org/10.1109/ICHR.2007.4813850

Semwal V.B., Chakraborty P., Nandi G.C. (2015); Less computationally intensive fuzzy logic

Si J., Wang Y.T. (2001); On-line Learning Control by Association and Reinforcement, IEEE Trans. on Neural Networks, doi: 10.1109/72.914523, 12(2), 264-276, 2001. https://doi.org/10.1109/72.914523

Stephens B. (2007); Humanoid push recovery, IEEE-RAS Int. Conf. Humanoid Robots, IEEE Press, Pittsburgh, PA, 589-595, 2007. https://doi.org/10.1109/ichr.2007.4813931

Tedrake R. (2004); Stochastic policy gradient reinforcement learning on a simple 3d biped, Proc. of the 10th Int. Conf. on Intelligent Robots and Systems, 2849-2854, 2004. https://doi.org/10.1109/iros.2004.1389841

Wieber P.B. (2006); Trajectory free linear model predictive control for stable walking in the presence of strong perturbations, IEEE-RAS Int. Conf. Humanoid Robots, IEEE Press, Nashville, doi: 10.1109/ICHR.2006.321375, 137-142, 2006. https://doi.org/10.1109/ICHR.2006.321375




DOI: http://dx.doi.org/10.15837/ijccc.2017.3.2842

Refbacks

  • There are currently no refbacks.




Copyright (c) 2017 Paul Erick Mendez Monroy



CC-BY-NC-ND   license for website user

Articles published in IJCCC user license are protected by copyright.

Users can access, download, copy, translate the IJCCC articles for non-commercial purposes provided that users, but cannot redistribute, display or adapt:

  • Cite the article using an appropriate bibliographic citation: author(s), article title, journal, volume, issue, page numbers, year of publication, DOI, and the link to the definitive published version on IJCCC website;
  • Maintain the integrity of the IJCCC article;
  • Retain the copyright notices and links to these terms and conditions so it is clear to other users what can and what cannot be done with the  article;
  • Ensure that, for any content in the IJCCC article that is identified as belonging to a third party, any re-use complies with the copyright policies of that third party;
  • Any translations must prominently display the statement: "This is an unofficial translation of an article that appeared in IJCCC. Agora University  has not endorsed this translation."
  • NoDerivatives — If you remix, transform, or build upon the material, you may not distribute the modified material.

This is a non commercial license where the use of published articles for commercial purposes is forbiden. 

Commercial purposes include: 

  • Copying or downloading IJCCC articles, or linking to such postings, for further redistribution, sale or licensing, for a fee;
  • Copying, downloading or posting by a site or service that incorporates advertising with such content;
  • The inclusion or incorporation of article content in other works or services (other than normal quotations with an appropriate citation) that is then available for sale or licensing, for a fee;
  • Use of IJCCC articles or article content (other than normal quotations with appropriate citation) by for-profit organizations for promotional purposes, whether for a fee or otherwise;
  • Use for the purposes of monetary reward by means of sale, resale, license, loan, transfer or other form of commercial exploitation;

    The licensor cannot revoke these freedoms as long as you follow the license terms.

[End of license]


INTERNATIONAL JOURNAL OF COMPUTERS COMMUNICATIONS & CONTROL (IJCCC), With Emphasis on the Integration of Three Technologies (C & C & C),  ISSN 1841-9836.

IJCCC was founded in 2006,  at Agora University, by  Ioan DZITAC (A. Editor-in-Chief),  Florin Gheorghe FILIP (Editor-in-Chief), and  Misu-Jan MANOLESCU (Managing Editor).

This journal is a member of, and subscribes to the principles of, the Committee on Publication Ethics (COPE).

Ioan  DZITAC (A. Editor-in-Chief) at COPE European Seminar, Bruxelles, 2015:

IJCCC is covered/indexed/abstracted in Science Citation Index Expanded (since vol.1(S),  2006). IF=1.374 in JCR2016.

IJCCC is indexed in Scopus from 2008 (SNIP2016 = 0.701, SJR2016 =0.319):

Nomination by Elsevier for Journal Excellence Award Romania 2015 (SNIP2014 = 1.029): Elsevier/ Scopus

IJCCC was nominated by Elsevier for Journal Excellence Award - "Scopus Awards Romania 2015" (SNIP2014 = 1.029).

IJCCC is in Top 3 of 157 Romanian journals indexed by Scopus (in all fields) and No.1 in Computer Science field by Elsevier/ Scopus.