3DZMP-based control of a humanoid robot with reaction forces at 3-dimensional contact Points

Kentaro Inomata, Yutaka Uchimura

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Citations (Scopus)

Abstract

Expectations for the practical use of service robots have increase of the acceleration of demographic aging. A humanoid robot is a promising form factor for service robots. When a humanoid robot is used in human environments, the robot must be designed considering various reaction forces that act on it. To date most walking robots use the conventional ZMP method for control in order to maintain a stable walking posture. However, the conventional ZMP method cannot handle the various reaction forces that act on contact points in three-dimensional space between a humanoid robot and the environment. To overcome this, a novel control method is proposed, comprising 3DZMP and pZMP. 3DZMP is defined as a point in three-dimensional space where the moment around all axes is zero. 3DZMP can prevent the rotation of a humanoid robot. pZMP is defined as a point where the 3DZMP is orthographically projected on a plane. pZMP is one way to evaluate the stability of 3DZMP. We implemented the proposed method with a prototype and verified that the robot could react to reaction forces, which the conventional ZMP method could not handle.

Original languageEnglish
Title of host publicationInternational Workshop on Advanced Motion Control, AMC
Pages402-407
Number of pages6
DOIs
Publication statusPublished - 2010
Event2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010 - Nagaoka, Niigata
Duration: 2010 Mar 212010 Mar 24

Other

Other2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010
CityNagaoka, Niigata
Period10/3/2110/3/24

Fingerprint

Point contacts
Robots
Aging of materials

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering
  • Computer Science Applications
  • Modelling and Simulation

Cite this

Inomata, K., & Uchimura, Y. (2010). 3DZMP-based control of a humanoid robot with reaction forces at 3-dimensional contact Points. In International Workshop on Advanced Motion Control, AMC (pp. 402-407). [5464098] https://doi.org/10.1109/AMC.2010.5464098

3DZMP-based control of a humanoid robot with reaction forces at 3-dimensional contact Points. / Inomata, Kentaro; Uchimura, Yutaka.

International Workshop on Advanced Motion Control, AMC. 2010. p. 402-407 5464098.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Inomata, K & Uchimura, Y 2010, 3DZMP-based control of a humanoid robot with reaction forces at 3-dimensional contact Points. in International Workshop on Advanced Motion Control, AMC., 5464098, pp. 402-407, 2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010, Nagaoka, Niigata, 10/3/21. https://doi.org/10.1109/AMC.2010.5464098
Inomata K, Uchimura Y. 3DZMP-based control of a humanoid robot with reaction forces at 3-dimensional contact Points. In International Workshop on Advanced Motion Control, AMC. 2010. p. 402-407. 5464098 https://doi.org/10.1109/AMC.2010.5464098
Inomata, Kentaro ; Uchimura, Yutaka. / 3DZMP-based control of a humanoid robot with reaction forces at 3-dimensional contact Points. International Workshop on Advanced Motion Control, AMC. 2010. pp. 402-407
@inproceedings{0ba0ba696c4c4a02957a77c181959c1d,
title = "3DZMP-based control of a humanoid robot with reaction forces at 3-dimensional contact Points",
abstract = "Expectations for the practical use of service robots have increase of the acceleration of demographic aging. A humanoid robot is a promising form factor for service robots. When a humanoid robot is used in human environments, the robot must be designed considering various reaction forces that act on it. To date most walking robots use the conventional ZMP method for control in order to maintain a stable walking posture. However, the conventional ZMP method cannot handle the various reaction forces that act on contact points in three-dimensional space between a humanoid robot and the environment. To overcome this, a novel control method is proposed, comprising 3DZMP and pZMP. 3DZMP is defined as a point in three-dimensional space where the moment around all axes is zero. 3DZMP can prevent the rotation of a humanoid robot. pZMP is defined as a point where the 3DZMP is orthographically projected on a plane. pZMP is one way to evaluate the stability of 3DZMP. We implemented the proposed method with a prototype and verified that the robot could react to reaction forces, which the conventional ZMP method could not handle.",
author = "Kentaro Inomata and Yutaka Uchimura",
year = "2010",
doi = "10.1109/AMC.2010.5464098",
language = "English",
isbn = "9781424466696",
pages = "402--407",
booktitle = "International Workshop on Advanced Motion Control, AMC",

}

TY - GEN

T1 - 3DZMP-based control of a humanoid robot with reaction forces at 3-dimensional contact Points

AU - Inomata, Kentaro

AU - Uchimura, Yutaka

PY - 2010

Y1 - 2010

N2 - Expectations for the practical use of service robots have increase of the acceleration of demographic aging. A humanoid robot is a promising form factor for service robots. When a humanoid robot is used in human environments, the robot must be designed considering various reaction forces that act on it. To date most walking robots use the conventional ZMP method for control in order to maintain a stable walking posture. However, the conventional ZMP method cannot handle the various reaction forces that act on contact points in three-dimensional space between a humanoid robot and the environment. To overcome this, a novel control method is proposed, comprising 3DZMP and pZMP. 3DZMP is defined as a point in three-dimensional space where the moment around all axes is zero. 3DZMP can prevent the rotation of a humanoid robot. pZMP is defined as a point where the 3DZMP is orthographically projected on a plane. pZMP is one way to evaluate the stability of 3DZMP. We implemented the proposed method with a prototype and verified that the robot could react to reaction forces, which the conventional ZMP method could not handle.

AB - Expectations for the practical use of service robots have increase of the acceleration of demographic aging. A humanoid robot is a promising form factor for service robots. When a humanoid robot is used in human environments, the robot must be designed considering various reaction forces that act on it. To date most walking robots use the conventional ZMP method for control in order to maintain a stable walking posture. However, the conventional ZMP method cannot handle the various reaction forces that act on contact points in three-dimensional space between a humanoid robot and the environment. To overcome this, a novel control method is proposed, comprising 3DZMP and pZMP. 3DZMP is defined as a point in three-dimensional space where the moment around all axes is zero. 3DZMP can prevent the rotation of a humanoid robot. pZMP is defined as a point where the 3DZMP is orthographically projected on a plane. pZMP is one way to evaluate the stability of 3DZMP. We implemented the proposed method with a prototype and verified that the robot could react to reaction forces, which the conventional ZMP method could not handle.

UR - http://www.scopus.com/inward/record.url?scp=77953739574&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=77953739574&partnerID=8YFLogxK

U2 - 10.1109/AMC.2010.5464098

DO - 10.1109/AMC.2010.5464098

M3 - Conference contribution

AN - SCOPUS:77953739574

SN - 9781424466696

SP - 402

EP - 407

BT - International Workshop on Advanced Motion Control, AMC

ER -