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Realization of foot rotation by breaking the kinematic contact constraint

Published online by Cambridge University Press:  25 July 2014

Xuechao Chen ,
Qiang Huang ,
Zhangguo Yu ,
Jing Li ,
Gan Ma ,
Libo Meng  and
Junyao Gao
Xuechao Chen*
Affiliation:
Intelligent Robotics Institute, School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, China Key Laboratory of Biomimetic Robots and Systems, Ministry of Education, China Key Laboratory of Intelligent Control and Decision of Complex System, China
Qiang Huang
Affiliation:
Intelligent Robotics Institute, School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, China Key Laboratory of Biomimetic Robots and Systems, Ministry of Education, China Key Laboratory of Intelligent Control and Decision of Complex System, China
Zhangguo Yu
Affiliation:
Intelligent Robotics Institute, School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, China Key Laboratory of Biomimetic Robots and Systems, Ministry of Education, China Key Laboratory of Intelligent Control and Decision of Complex System, China
Jing Li
Affiliation:
Intelligent Robotics Institute, School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, China Key Laboratory of Biomimetic Robots and Systems, Ministry of Education, China Key Laboratory of Intelligent Control and Decision of Complex System, China
Gan Ma
Affiliation:
Intelligent Robotics Institute, School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, China Key Laboratory of Biomimetic Robots and Systems, Ministry of Education, China Key Laboratory of Intelligent Control and Decision of Complex System, China
Libo Meng
Affiliation:
Intelligent Robotics Institute, School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, China Key Laboratory of Biomimetic Robots and Systems, Ministry of Education, China Key Laboratory of Intelligent Control and Decision of Complex System, China
Junyao Gao
Affiliation:
Intelligent Robotics Institute, School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, China Key Laboratory of Biomimetic Robots and Systems, Ministry of Education, China Key Laboratory of Intelligent Control and Decision of Complex System, China
*
*Corresponding author. E-mail: chenxuechao@bit.edu.cn
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Summary

Previous research has revealed that foot rotation of the supporting foot in a single support phase could increase walking speed. This paper presents a method for force-controlled bipeds to realize foot rotation by breaking the kinematic contact constraint between the supporting foot and the ground. An inverse dynamics controller is proposed to make the biped model controllable even when the constraint is broken. In addition, a linear inverted pendulum model is extended to make its ZMP adjustable so that the ZMP can be predefined as required. When the planned ZMP is in the toe, the kinematic contact constraint will be broken and foot rotation can be achieved. A walking simulation demonstrates the effectiveness of the proposed method.

Keywords

Biped robotFoot rotationInverse dynamicsLIPM
Type
Articles
Information
Robotica , Volume 34 , Issue 5: RAAD , May 2016 , pp. 1059 - 1070
Copyright
Copyright © Cambridge University Press 2014 

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