Pattern Generation and Control of Humanoid Robots: Towards Human-Like Walking Ahmed Chemori
Pattern Generation and Control of Humanoid Robots: Towards Human-Like Walking Ahmed Chemori
To cite this version:
Ahmed Chemori. Pattern Generation and Control of Humanoid Robots: Towards Human-Like Walk- ing. ICEECA: International Conference on Electrical Engineering and Control Applications, Nov 2012, Khenchela, Algeria. 10.13140/RG.2.2.35942.52808. lirmm-00809634
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Plenary II
Ahmed CHEMORI
Laboratory of Informatics, Robotics and Microelectronics of Montpellier LIRMM, CNRS/University of Montpellier 2 161, rue Ada 34095 Montpellier, France
Khenchela, November, 21st, 2012 Montpellier
Montpellier is a city in the south of France It is the capital of Languedoc Roussillon region as well as Hérault department It is the 8th city in the country
Montpellier
ICEECA 2012 - khenchela, Algeria Speaker : A. Chemori (LIRMM, CNRS – Univ. Montpellier 2, France) 2 LIRMM Laboratory
LIRMM
Laboratory of Informatics, Robotics and Microelectronics of Montpellier (LIRMM) is a research laboratory supervised by both University Montpellier 2 and the French National Center for Scientific Research (CNRS) 359 permanent and 80 temporary employees, working together in 3 research units :
Department of Department of Department of Computer science Robotics Microelectronics
ICEECA 2012 - khenchela, Algeria Speaker : A. Chemori (LIRMM, CNRS – Univ. Montpellier 2, France) 3 LIRMM Laboratory
Robotics department The robotics department constitutes one of the vital forces of robotics in France It comprised of 30 researchers and lecturer-researchers It contains 5 main research teams
DEXTER IDH ICAR
Robotics Department
Of LIRMM
EXPLORE DEMAR
ICEECA 2012 - khenchela, Algeria Speaker : A. Chemori (LIRMM, CNRS – Univ. Montpellier 2, France) 4 LIRMM Laboratory
Robotics department DEXTER Research team
E. DOMBRE P. POIGNET N. ZEMITI C. LIU (DR CNRS) (PR UM2) (MC UM2) (CR CNRS) Medical robotics
F. PIERROT O. COMPANY S. KRUT A. CHEMORI M. GOUTTEFARDE (DR CNRS) (MC UM2) (CR CNRS) (CR CNRS) (CR CNRS) Parallel robotics
ICEECA 2012 - khenchela, Algeria Speaker : A. Chemori (LIRMM, CNRS – Univ. Montpellier 2, France) 5 LIRMM Laboratory
Robotics department Facilities
ICEECA 2012 - khenchela, Algeria Speaker : A. Chemori (LIRMM, CNRS – Univ. Montpellier 2, France) 6 LIRMM Laboratory
LIRMM in the robotics platforms network in France
ICEECA 2012 - khenchela, Algeria Speaker : A. Chemori (LIRMM, CNRS – Univ. Montpellier 2, France) 7 Outline of the presentation
Part I o Context and problem formulation Humanoid robotics Origin of Humanoid robots Humanoid robots over the years Humanoid robots of today Problem formulation Part II o Our demonstrators SHERPA : A two-leg walking robot HOAP3 : A humanoid robot Part III o Optimal Pattern generation Related work Proposed solution Simulation results Part IV o Walking control Summary of the study Proposed solution Simulation results Part V o Towards human-like walking One basic idea Related work Why human like walking Main steps of our developed study Part IV o Conclusion
ICEECA 2012 - khenchela, Algeria Speaker : A. Chemori (LIRMM, CNRS – Univ. Montpellier 2, France) 8 Context Demonstrators P. Generation Walking T. H. Walking Conclusion
Part I
Humanoid robotics Origin of humanoid robots Humanoid robots over the years Humanoid robots of today Problem formulation
ICEECA 2012 - khenchela, Algeria Speaker : A. Chemori (LIRMM, CNRS – Univ. Montpellier 2, France) 9 Context Demonstrators P. Generation Walking T. H. Walking Conclusion
Humanoid robotics
A humanoid robot or an anthropomorphic robot is a robot with an overall appearance, based on that of the human body, allowing interaction with made-for-human tools or environments. In general humanoid robots have a torso with a head, two arms and two legs Some humanoid robots may also have a 'face', with 'eyes' and 'mouth' Androids are humanoid robots built to aesthetically resemble a human
Some features of a Humanoid Robot The characteristics features of a humanoid Robot include: Autonomous learning Avoiding harmful situations to people, and itself Safe interacting with human beings and the environment
ICEECA 2012 - khenchela, Algeria Speaker : A. Chemori (LIRMM, CNRS – Univ. Montpellier 2, France) 10 Context Demonstrators P. Generation Walking T. H. Walking Conclusion
Origin of humanoid robots
In 1921: Karel Capek coined the term Robot In 1941: Isaac Asimov proposed Three Laws of Robotics In 1948: Norbert Wiener formulated the principle of Cybernetics In 1969: Miomir Vukobratovic proposed the theory of Zero Moment Point (ZMP) In 1973: Waseda University (Tokyo) developed WABOT-1, which was capable to communicate with a person in Japanese, could do distance and direction measurements using sensors, artificial ears, eyes and as well as an artificial mouth In 20th century (end) many robots have been proposed : Greenman in 1983, WABOT-2 in 1984, WHL-11 in 1985, the musician robot- WASUBOT in 1985, series of seven biped robots called E0-E6 by Honda in 1986, the full scale anthromorphic robot- MANNY in 1989, with 42 degrees of freedom, Honda’s P1 through P3 in 1993, HADALY and WABIAN in 1995, SAIKA in 1996 and ASIMO by Honda in 2000. In 21st Century, further additions were done by Sony’s QRIO in 2001, HOAP and ACTROID in 2003, PERSIA and KHR-1 in 2004, PKD android and WAKAMARU in 2005, TOPIO in 2007, Justin, KT-X and NEXI in 2008, SURALP in 2009, Robonaut-2, SURENA-II and HRP-4C in 2010
ICEECA 2012 - khenchela, Algeria Speaker : A. Chemori (LIRMM, CNRS – Univ. Montpellier 2, France) 11 Context Demonstrators P. Generation Walking T. H. Walking Conclusion
Humanoid robots over the years
WL-1 (1967) WAP-3 (1971) WL-10RD (1984) WABIAN (1995)
humanoid robots humanoid
Waseda
P2 P3 P4 E5 E6 P1 E2 E3 E4 E1 Towards whole-
body Honda humanoid robots humanoid Honda
ICEECA 2012 - khenchela, Algeria Speaker : A. Chemori (LIRMM, CNRS – Univ. Montpellier 2, France) 12 Context Demonstrators P. Generation Walking T. H. Walking Conclusion
Humanoid robots of today
ASIMO (Honda)
SDR4 (Sony) HRP4/HRP4-C (AIST)
Nao (Aldebaran)
Hoap3 (Fujitsu)
ICEECA 2012 - khenchela, Algeria Speaker : A. Chemori (LIRMM, CNRS – Univ. Montpellier 2, France) 13 Context Demonstrators P. Generation Walking T. H. Walking Conclusion
Problem formulation Walking cycle decomposition
Can distinguish : 2 main phases : Single support & double support 1 transition : impact with ground (instantaneous)
Impact
Single Double support support
We need to control the robot on the whole cycle What we need for that ?
ICEECA 2012 - khenchela, Algeria Speaker : A. Chemori (LIRMM, CNRS – Univ. Montpellier 2, France) 14 Context Demonstrators P. Generation Walking T. H. Walking Conclusion
Problem formulation Static or dynamic walking ? Static walking Dynamic walking
Center Of Mass (COM) Zero Moment Point (ZMP)
G G
mg mg
5 (1971) 5
- WL C C
(a) (b) Point with respect to which dynamic reaction Weighting sum of the centers of different bodies forces at the contact does not produce any moment in the horizontal direction
ICEECA 2012 - khenchela, Algeria Speaker : A. Chemori (LIRMM, CNRS – Univ. Montpellier 2, France) 15 Context Demonstrators P. Generation Walking T. H. Walking Conclusion
Two related problems Pattern generator Controller Robot Robot feet/ZMP Model positions qd Walking Pattern SHERPA Articulations U SHERPA Parameters generator robot control robot q, qp Contact forces control
Feet position modification Contact forces Posture measurement
Foot landing Balance Posture control control control Position error of the body
Stabilizer Two problems to be resolved : Pattern generation and control design for walking
ICEECA 2012 - khenchela, Algeria Speaker : A. Chemori (LIRMM, CNRS – Univ. Montpellier 2, France) 16 Context Demonstrators P. Generation Walking T. H. Walking Conclusion
Part III
SHERPA : A two-leg walking robot HOAP 3 : A humanoid robot
ICEECA 2012 - khenchela, Algeria Speaker : A. Chemori (LIRMM, CNRS – Univ. Montpellier 2, France) 17 Context Demonstrators P. Generation Walking T. H. Walking Conclusion
SHERPA robot : Development steps Guide de montagne dans l'Himalaya
Prototype Original idea
Mechanical Biomechanical design studies
Articulated mechanical structure dof : 18 (6dof/leg) + 6 dof (position/orientation) 3 rotations (hip) 1 rotation (knee) 2 rotations (ankle) Actuation : 3 modules / leg For each module : 2 AC brushless motors Cable differential joints Transparent actuation (low inertia & backdrivable)
ICEECA 2012 - khenchela, Algeria Speaker : A. Chemori (LIRMM, CNRS – Univ. Montpellier 2, France) 18 Context Demonstrators P. Generation Walking T. H. Walking Conclusion
SHERPA robot : Actuation
ICEECA 2012 - khenchela, Algeria Speaker : A. Chemori (LIRMM, CNRS – Univ. Montpellier 2, France) 19 Context Demonstrators P. Generation Walking T. H. Walking Conclusion
SHERPA robot : Experimental setup Control PC
ankle Hip
Force femur sensor 6-axis
foot knee
Tibia
Interface cards
ICEECA 2012 - khenchela, Algeria Speaker : A. Chemori (LIRMM, CNRS – Univ. Montpellier 2, France) 20 Context Demonstrators P. Generation Walking T. H. Walking Conclusion
SHERPA robot : First movements
Articulations movements Walking suspended
ICEECA 2012 - khenchela, Algeria Speaker : A. Chemori (LIRMM, CNRS – Univ. Montpellier 2, France) 21 Context Demonstrators P. Generation Walking T. H. Walking Conclusion
HOAP3 : Architecture Electronic boards inside
28 dof : 6 dof/leg - 6dof/arm - 3dof/head - 1dof/body
ICEECA 2012 - khenchela, Algeria Speaker : A. Chemori (LIRMM, CNRS – Univ. Montpellier 2, France) 22 Context Demonstrators P. Generation Walking T. H. Walking Conclusion
HOAP3 : Actuators and sensors
Speaker
Distance sensor
Posture sensor USB Cameras 3-axis acc sensor Angular velocity sensor (gyro)
Joint sensors 28 actuators (21 DC, 7 Stepper)
Force sensors (4/foot) Grip sensors
This demonstrator is useful for whole body control
ICEECA 2012 - khenchela, Algeria Speaker : A. Chemori (LIRMM, CNRS – Univ. Montpellier 2, France) 23 Context Demonstrators P. Generation Walking T. H. Walking Conclusion
HOAP3 : Operating modes cablemode
Robot
System configurationSystem in
Robot
radiomode System configurationSystem in
ICEECA 2012 - khenchela, Algeria Speaker : A. Chemori (LIRMM, CNRS – Univ. Montpellier 2, France) 24 Context Demonstrators P. Generation Walking T. H. Walking Conclusion
Part IV
Related work Proposed solution
ICEECA 2012 - khenchela, Algeria Speaker : A. Chemori (LIRMM, CNRS – Univ. Montpellier 2, France) 25 Context Demonstrators P. Generation Walking T. H. Walking Conclusion
Related work
Pattern generators
Simplified models Biomechanics Oscillators B-Splines functions Others
LIPM Biomchanics Van Der Pol Polynomial functions [Huang et al. 1999] [Kajita et al. 2001] [Bruneau et al. 1998] [Katoh et al. 1984] [ Zaier et al. 2007] [Hong et al. 2009] Motion capture Sinusoidal Neural networks
[Tang et al. 2007] [Harada, 2009] [Zhao et al. 2008] [Yang et al. 2007] [Ferreira et al. 2009] [Kim et al. 2009] FFT [Lee, 2007] [Takano et al. 2007] [Yamaguchi et al. 2008] 2MLIPM [Albert et al. 2002] 3MLIPM Our proposed solution [Takenaka et al. 2009] is within this class
ICEECA 2012 - khenchela, Algeria Speaker : A. Chemori (LIRMM, CNRS – Univ. Montpellier 2, France) 26 Context Demonstrators P. Generation Walking T. H. Walking Conclusion
Summary of the proposed solution Objective
Design and development of a pattern generator for stable dynamic walking
Assumptions
A1: Walking on a horizontal ground without obstacles A2: walking cycle (SS+imact phases), no DS phase
Method & application
Method 1 : B-Spline functions with control points Method 2 : B-Spline functions with boundary conditions & interpolated points Application : Walking robot SHERPA
ICEECA 2012 - khenchela, Algeria Speaker : A. Chemori (LIRMM, CNRS – Univ. Montpellier 2, France) 27 Context Demonstrators P. Generation Walking T. H. Walking Conclusion
Block-diagram of the proposed solution
Number Swing foot Trajectory of steps
Initial conditions Hip’s Trajectory Feet Length of Positions
steps Feet B-Spline trajectories I.K Reference Placement Functions Swing leg COM Whole Real ZMP Angle of model rotation COM computation Simplified Model Simplified ZMP
ZMP computation stability stability of Parameters
B-Spline with boundary conditions & interpolated points
ICEECA 2012 - khenchela, Algeria Speaker : A. Chemori (LIRMM, CNRS – Univ. Montpellier 2, France) 28 Context Demonstrators P. Generation Walking T. H. Walking Conclusion
Simulation results
Integration of the proposed solution in a simulator Simulation results without optimization Trajectories optimization Simulation results with optimization
ICEECA 2012 - khenchela, Algeria Speaker : A. Chemori (LIRMM, CNRS – Univ. Montpellier 2, France) 29 Context Demonstrators P. Generation Walking T. H. Walking Conclusion
Integration of the proposed solution in a simulator
Walking User help parameters
Trajectories computation
Curves visualization
Animation make movie
Visualization footprints & CoM
ICEECA 2012 - khenchela, Algeria Speaker : A. Chemori (LIRMM, CNRS – Univ. Montpellier 2, France) 30 Context Demonstrators P. Generation Walking T. H. Walking Conclusion
Scenario 1 : Straight walking without optimization
q , q [rad] q , q [rad] 2 8 5 11 qp , qp [rad/s] qp , qp [rad/s] 1 1.5 2 8 5 11
1 2
0 1 0 0 -1 0.5 0 2 4 6 0 2 4 6 -1 -2 0 2 4 6 0 2 4 6 q , q [rad] q , q [rad] 3 9 6 12 qp , qp [rad/s] qp , qp [rad/s] 0.2 0 3 9 6 12 1 1
0 -0.5 positions
velocities 0 0
-0.2 -1 0 2 4 6 0 2 4 6 -1 -1 0 2 4 6 0 2 4 6 q , q [rad] q , q [rad] 4 10 7 13 qp , qp [rad/s] qp , qp [rad/s] 0 0.2 4 10 7 13 1 1 -0.5 0
0 0
Articular Articular -1 -0.2 0 2 4 6 0 2 4 6 -1 -1 Temps [s] Temps [s] 0 2 4 6 0 2 4 6 Temps [s] Temps [s]
qpp , qpp [rad/s2] qpp , qpp [rad/s2] 2 8 5 11 2
1 20
X 0 0 0 Pied droit Pied gauche -1 -20 -2 0 2 4 6 0 2 4 6 0 1 2 3 4 5 6 Temps [s] qpp , qpp [rad/s2] qpp , qpp [rad/s2] 3 9 6 12 0.2 10 10
0 0 Y 0
accelerations accelerations
-10 -10 -0.2 0 2 4 6 0 2 4 6 0 1 2 3 4 5 6 Temps [s] qpp , qpp [rad/s2] qpp , qpp [rad/s2] 4 10 7 13 0.05
10 10 Feet trajectories Feet
0 0 Z Articular -10 -10 0 0 2 4 6 0 2 4 6 0 1 2 3 4 5 6 Temps [s] Temps [s] Temps [s] Obtained cyclic trajectories
ICEECA 2012 - khenchela, Algeria Speaker : A. Chemori (LIRMM, CNRS – Univ. Montpellier 2, France) 31 Context Demonstrators P. Generation Walking T. H. Walking Conclusion
Scenario 1 : Stability evaluation without optimization
S1 : Straight walking S2 : Walking with change of direction
ZMP & COM réel 0.5 1 ZMP 0.4 0.8 COM ZMP 0.3 0.6 COM
0.2 0.4
0.1 0.2
0 0
-0.1 -0.2
-0.2 -0.4
-0.3 -0.6
-0.4 -0.8
-0.5 -1 -0.4 -0.2 0 0.2 0.4 0.6 0.8 1 1.2 1.4 -0.4 -0.2 0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 ZMP, COM et footprints ZMP, COM and footprints
S1 : ZMP is inside of the support polygon Stable walking S2 : ZMP is outside of the support polygon Unstable walking
ICEECA 2012 - khenchela, Algeria Speaker : A. Chemori (LIRMM, CNRS – Univ. Montpellier 2, France) 32 Context Demonstrators P. Generation Walking T. H. Walking Conclusion
Trajectories optimization
Objective : Improve the stability of dynamic waling
Proposed solution : Optimization with respect to ZMP
: Coordinates of ZMP position
: Desired ZMP position
: Weighting coefficients
ICEECA 2012 - khenchela, Algeria Speaker : A. Chemori (LIRMM, CNRS – Univ. Montpellier 2, France) 33 Context Demonstrators P. Generation Walking T. H. Walking Conclusion
Scenario 2 : Straight walking with optimization
M2 : Without optimization M2 : With optimization
1 0.5 0.8 0.4 ZMP 0.6 0.3 COM 0.4 0.2 0.2 0.1 0 0 -0.2 -0.1 -0.4 -0.2 -0.6 -0.3 -0.8 -0.4 -1 -0.5 -0.4 -0.2 0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 -0.4 -0.2 0 0.2 0.4 0.6 0.8 1 1.2 1.4 ZMP, COM et footprints ZMP, COM and footprints
With optimization : ZMP is inside of the support polygon Stable walking ZMP is more concentrated Stability improved
ICEECA 2012 - khenchela, Algeria Speaker : A. Chemori (LIRMM, CNRS – Univ. Montpellier 2, France) 34 Context Demonstrators P. Generation Walking T. H. Walking Conclusion
GUI Animation
ICEECA 2012 - khenchela, Algeria Speaker : A. Chemori (LIRMM, CNRS – Univ. Montpellier 2, France) 35 Context Demonstrators P. Generation Walking T. H. Walking Conclusion
Part V
Summary of the study Proposed solution Simulation results
ICEECA 2012 - khenchela, Algeria Speaker : A. Chemori (LIRMM, CNRS – Univ. Montpellier 2, France) 36 Context Demonstrators P. Generation Walking T. H. Walking Conclusion
Summary of the study Objective
Design of controllers for stable dynamic walking in humanoid robotics
Assumptions
A1: Walking on a horizontal ground without obstacles A2: walking cycle (SS+imact phases), no DS phase (except at the beginning)
Method & application
Method : Dynamic control Walking stability : ZMP-based stabilizer Application : Walking robot SHERPA
ICEECA 2012 - khenchela, Algeria Speaker : A. Chemori (LIRMM, CNRS – Univ. Montpellier 2, France) 37 Context Demonstrators P. Generation Walking T. H. Walking Conclusion
Block-diagram of the proposed solution
SHERPA Robot
CoMd q , q ,q Trajectories d d d Dynamic u Generation IKM controller
CoMaux q , q z Stabilizer y x
3D foot/ground contact model
ICEECA 2012 - khenchela, Algeria Speaker : A. Chemori (LIRMM, CNRS – Univ. Montpellier 2, France) 38 Context Demonstrators P. Generation Walking T. H. Walking Conclusion
Simulation results
14 steps walking scenario Starting from rest Variable (increasing) walking speed
ICEECA 2012 - khenchela, Algeria Speaker : A. Chemori (LIRMM, CNRS – Univ. Montpellier 2, France) 39 Context Demonstrators P. Generation Walking T. H. Walking Conclusion
Simulation results
Joint positions of first leg Joint positions of second leg
ICEECA 2012 - khenchela, Algeria Speaker : A. Chemori (LIRMM, CNRS – Univ. Montpellier 2, France) 40 Context Demonstrators P. Generation Walking T. H. Walking Conclusion
Simulation results
Torques of first leg Torques of second leg
ICEECA 2012 - khenchela, Algeria Speaker : A. Chemori (LIRMM, CNRS – Univ. Montpellier 2, France) 41 Context Demonstrators P. Generation Walking T. H. Walking Conclusion
Simulation results
Contact forces ZMP tracking
ICEECA 2012 - khenchela, Algeria Speaker : A. Chemori (LIRMM, CNRS – Univ. Montpellier 2, France) 42 Context Demonstrators P. Generation Walking T. H. Walking Conclusion
Part VI
One basic idea Related work Why human-like walking? Main steps of our study
ICEECA 2012 - khenchela, Algeria Speaker : A. Chemori (LIRMM, CNRS – Univ. Montpellier 2, France) 43 Context Demonstrators P. Generation Walking T. H. Walking Conclusion
One basic idea
Pattern generator Controller Robot Robot feet/ZMP Model positions qd Walking Pattern SHERPA Articulations U SHERPA Parameters generator robot control robot q, qp Contact forces control
Feet position modification Contact forces Posture measurement
Foot landing Balance Posture control control control Position error of the body Human walking data
Stabilizer
ICEECA 2012 - khenchela, Algeria Speaker : A. Chemori (LIRMM, CNRS – Univ. Montpellier 2, France) 44 Context Demonstrators P. Generation Walking T. H. Walking Conclusion
Related work
Whole body motion control
Task-based schemes Human-Data based schemes
Class 1: Online computation Class 2: Offline computation
Objective function Motion Primitives [Liegeois, 1977] Balance/Tracking controller [Nakaoka et al., 2003- Task priority based [Yamane et al.,2009-2010] 2005] redundancy control Imitation Gait parameter extraction [Siciliano et al.,1991, [Shaal et al.,1999-2003, [Harada et al.,2009] Nakamura et al., 1987] Calderon & Hu 2005] Scale and optimization Stack of task [Suleiman et al., 2008] [Mansard., 2007]
Human Normalized model [Montecillo et al.,2010]
ICEECA 2012 - khenchela, Algeria Speaker : A. Chemori (LIRMM, CNRS – Univ. Montpellier 2, France) 45 Context Demonstrators P. Generation Walking T. H. Walking Conclusion
Why human like-walking ?
Human walking versus humanoid walking
Objective : Study of the influence of the upper limbs (torso & arms) on dynamic stability and energy consumption during walking
ICEECA 2012 - khenchela, Algeria Speaker : A. Chemori (LIRMM, CNRS – Univ. Montpellier 2, France) 46 Context Demonstrators P. Generation Walking T. H. Walking Conclusion
Main steps of our study
• Simulator development step1
• Human walking study Gather human walking data Step 2
• Pattern generator design (based on human walking data) Step 3
• Control architecture (controller + stabilizer) Step 4
• Implementation on a humanoid robot (HOAP3) Step 5
ICEECA 2012 - khenchela, Algeria Speaker : A. Chemori (LIRMM, CNRS – Univ. Montpellier 2, France) 47 Context Demonstrators P. Generation Walking T. H. Walking Conclusion
Step 1
Developed simulator for whole-body control
Summary of the simulator characteristics View GUI of the simulator Whole body proposed model
ICEECA 2012 - khenchela, Algeria Speaker : A. Chemori (LIRMM, CNRS – Univ. Montpellier 2, France) 48 Context Demonstrators P. Generation Walking T. H. Walking Conclusion
Summary of the simulator main characteristics
Includes whole-body models of different robots
Examples : SHERPA robot, Whole-body proposed model, Hydroid, Hoap3
Easy extensions add other models
Takes into account both robot dynamics and contact dynamics
Two contact models : compliant / rigid
Has a graphical interface (OpenGL) Show the movements of the robot
Written in C++ language (use GSL open source library)
Modular approach
ICEECA 2012 - khenchela, Algeria Speaker : A. Chemori (LIRMM, CNRS – Univ. Montpellier 2, France) 49 Context Demonstrators P. Generation Walking T. H. Walking Conclusion
View of the GUI of the simulator
20 dof whole body model Hoap 3 robot model (28 dof)
And others …
ICEECA 2012 - khenchela, Algeria Speaker : A. Chemori (LIRMM, CNRS – Univ. Montpellier 2, France) 50 Context Demonstrators P. Generation Walking T. H. Walking Conclusion
Whole body proposed model
ICEECA 2012 - khenchela, Algeria Speaker : A. Chemori (LIRMM, CNRS – Univ. Montpellier 2, France) 51 Context Demonstrators P. Generation Walking T. H. Walking Conclusion
Preliminary tests on the simulator Scenario 1: Squat task Scenario 2: Whole body balance
Scenario 3: Arms balance Scenario 3: Torso & arms balance
ICEECA 2012 - khenchela, Algeria Speaker : A. Chemori (LIRMM, CNRS – Univ. Montpellier 2, France) 52 Context Demonstrators P. Generation Walking T. H. Walking Conclusion
Step 2
Human walking study
Human walking Motion capture system
ICEECA 2012 - khenchela, Algeria Speaker : A. Chemori (LIRMM, CNRS – Univ. Montpellier 2, France) 53 Context Demonstrators P. Generation Walking T. H. Walking Conclusion
Human walking
Including : Human Locomotion Kinematics & kinetics of human walking Energy & muscle activity during walking Simulation of Walking … etc How we can acquire data on human walking ?
ICEECA 2012 - khenchela, Algeria Speaker : A. Chemori (LIRMM, CNRS – Univ. Montpellier 2, France) 54 Context Demonstrators P. Generation Walking T. H. Walking Conclusion
Motion capture system
Plug-in-Gait Marker Placement
ICEECA 2012 - khenchela, Algeria Speaker : A. Chemori (LIRMM, CNRS – Univ. Montpellier 2, France) 55 Context Demonstrators P. Generation Walking T. H. Walking Conclusion
Motion capture system
Context : A joint French-Italian project LIRMM(France) / LABLAB (Italy) Objective : Human walking analysis Effects of upper limbs on human walking
Equipments : 1 host PC 10 VICON cameras 3 Forces plates
Force plate VICON Camera
ICEECA 2012 - khenchela, Algeria Speaker : A. Chemori (LIRMM, CNRS – Univ. Montpellier 2, France) 56 Context Demonstrators P. Generation Walking T. H. Walking Conclusion
Motion capture system Is the process of recording movement, and translate that movement to a digital model
Reflective marker
Study: - 15 Subjects walking at different speeds - 35 markers using Plug-in Gait template (a) - Reconstruction of movement using Vicon Nexus (b) - Estimation of CoM using Lifemod (c)
ICEECA 2012 - khenchela, Algeria Speaker : A. Chemori (LIRMM, CNRS – Univ. Montpellier 2, France) 57 Context Demonstrators P. Generation Walking T. H. Walking Conclusion
Step 3
Pattern generator design
Basic idea of the proposed solution Proposed human data base pattern generator Simulation results
ICEECA 2012 - khenchela, Algeria Speaker : A. Chemori (LIRMM, CNRS – Univ. Montpellier 2, France) 58 Context Demonstrators P. Generation Walking T. H. Walking Conclusion
Basic idea of the proposed solution What happen if we apply directly human data to the humanoid robot ? y : SS : DS
x
ZMP is outside the polygon of support unstable waking ! Proposed solution : Upper body
Lower body
3D-LIPM 22 dof
ICEECA 2012 - khenchela, Algeria Speaker : A. Chemori (LIRMM, CNRS – Univ. Montpellier 2, France) 59 Context Demonstrators P. Generation Walking T. H. Walking Conclusion
Proposed human data based pattern generator
ICEECA 2012 - khenchela, Algeria Speaker : A. Chemori (LIRMM, CNRS – Univ. Montpellier 2, France) 60 Context Demonstrators P. Generation Walking T. H. Walking Conclusion
Simulation results
Proposed pattern generator was implemented in the robot simulator Human walking data used for upper body For a three-step walking scenario starting from rest
Stable Dynamic walking
ICEECA 2012 - khenchela, Algeria Speaker : A. Chemori (LIRMM, CNRS – Univ. Montpellier 2, France) 61 Context Demonstrators P. Generation Walking T. H. Walking Conclusion
Simulation results
ICEECA 2012 - khenchela, Algeria Speaker : A. Chemori (LIRMM, CNRS – Univ. Montpellier 2, France) 62 Context Demonstrators P. Generation Walking T. H. Walking Conclusion
Step 4
Control architecture design
Basic idea of the proposed control architecture Block-diagram Extended version
ICEECA 2012 - khenchela, Algeria Speaker : A. Chemori (LIRMM, CNRS – Univ. Montpellier 2, France) 63 Context Demonstrators P. Generation Walking T. H. Walking Conclusion
Basic idea of the proposed control scheme
Motion Capture
S
Control scheme
ICEECA 2012 - khenchela, Algeria Speaker : A. Chemori (LIRMM, CNRS – Univ. Montpellier 2, France) 64 Context Demonstrators P. Generation Walking T. H. Walking Conclusion
Block-diagram of the proposed control architecture
First task
Null space projection Second task
ICEECA 2012 - khenchela, Algeria Speaker : A. Chemori (LIRMM, CNRS – Univ. Montpellier 2, France) 65 Context Demonstrators P. Generation Walking T. H. Walking Conclusion
Extended version of the proposed control architecture (With ZMP regulation)
ICEECA 2012 - khenchela, Algeria Speaker : A. Chemori (LIRMM, CNRS – Univ. Montpellier 2, France) 66 Context Demonstrators P. Generation Walking T. H. Walking Conclusion
Step 5
Implementation on a humanoid robot
Simulation scenarios Real-time experimental scenarios Scenario 1 : Simple validation of the scheme Scenario 1 : ZMP control Scenario 2 : Human data without adaptation Scenario 2 : Squat motion Scenario 3 : Human data with CoM scaling Scenario 4 : Squat motion
ICEECA 2012 - khenchela, Algeria Speaker : A. Chemori (LIRMM, CNRS – Univ. Montpellier 2, France) 67 Context Demonstrators P. Generation Walking T. H. Walking Conclusion
Simulation scenario 1 : First validation of the scheme
ICEECA 2012 - khenchela, Algeria Speaker : A. Chemori (LIRMM, CNRS – Univ. Montpellier 2, France) 68 Context Demonstrators P. Generation Walking T. H. Walking Conclusion
Simulation scenario 2 : Human data without adaptation
Reconstructed human movement Application of the proposed scheme
Simulation of the proposed control scheme Use of human data without any adaptation
ICEECA 2012 - khenchela, Algeria Speaker : A. Chemori (LIRMM, CNRS – Univ. Montpellier 2, France) 69 Context Demonstrators P. Generation Walking T. H. Walking Conclusion
Simulation scenario 3 : Human data with CoM scaling
Reconstructed human movement Application of the proposed scheme
Simulation of the proposed control scheme Use of human data with scaling of the CoM trajectories
ICEECA 2012 - khenchela, Algeria Speaker : A. Chemori (LIRMM, CNRS – Univ. Montpellier 2, France) 70 Context Demonstrators P. Generation Walking T. H. Walking Conclusion
Simulation scenario 4 : Squat motion
ICEECA 2012 - khenchela, Algeria Speaker : A. Chemori (LIRMM, CNRS – Univ. Montpellier 2, France) 71 Context Demonstrators P. Generation Walking T. H. Walking Conclusion
Experimental scenario 1 : ZMP control with external disturbance
ICEECA 2012 - khenchela, Algeria Speaker : A. Chemori (LIRMM, CNRS – Univ. Montpellier 2, France) 72 Context Demonstrators P. Generation Walking T. H. Walking Conclusion
Experimental scenario 2 : Squat motion
ICEECA 2012 - khenchela, Algeria Speaker : A. Chemori (LIRMM, CNRS – Univ. Montpellier 2, France) 73 Context Demonstrators P. Generation Walking T. H. Walking Conclusion
Part V
ICEECA 2012 - khenchela, Algeria Speaker : A. Chemori (LIRMM, CNRS – Univ. Montpellier 2, France) 74 Context Demonstrators P. Generation Walking T. H. Walking Conclusion
Context : Pattern generation and control in humanoid robotics Three main studies : First study : Pattern generation B-spline based generator Second study : Walking control Walking control architecture with stabilizer Third study : Towards human-like walking (whole body control) in 5 steps Simulation development Human walking study Pattern generator design Control architecture design (no phase decomposition continuous) Implementation Future work : Final walking control implementation on Hoap 3 robot Real-time implementation on a humanoid robot : HRP4
ICEECA 2012 - khenchela, Algeria Speaker : A. Chemori (LIRMM, CNRS – Univ. Montpellier 2, France) 75 View publication stats