Autonomous and Mobile Robotics

Prof. Giuseppe Oriolo

Biped Robots 1: Introduction and Passive Walking

(slides prepared by Antonio Paolillo and Marilena Vendittelli)

motivations practical side: in some cases humanoids are the most sensible choice

sociological and commercial side: humanoids have a major appeal

Oriolo: Autonomous and Mobile Robotics - Biped Robots (by A. Paolillo and M.Vendittelli)
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motivations human-like shape: emotional feeling multipurpose: manipulation, locomotion etc adaptability: humanoids can work in environment designed for humans (safety tasks) and expand their capabilities by using machines that humans use collaboration: humanoids motion is easy for human to understand and predict

Oriolo: Autonomous and Mobile Robotics - Biped Robots (by A. Paolillo and M.Vendittelli)

brief history pre-research period: human mind has always been captured by the idea to build anthropomorphic machines pioneering period (70s-90s): research on humanoids was born only the last century from the end of 90s: industrial companies showed that the building of real humanoids was possible today: research is focusing on humanoid robustness, efciency and versatility
Oriolo: Autonomous and Mobile Robotics - Biped Robots (by A. Paolillo and M.Vendittelli)
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pre-research period

Herons Automatic Machines (1st cent. A.D.) 0 1500 Leonardos Robot (1495)

Karakury Dolls (17th19th cent.) 1700 1900 Asimos Laws of Robotics (1942)

Oriolo: Autonomous and Mobile Robotics - Biped Robots (by A. Paolillo and M.Vendittelli)

pioneering period

Wabot-1 (Kato, 1973) 1970 ZMP concept (Vukobratovi!, 1972) 1980

WL-10RD
(Kato, 1984)

P2 (Honda, 1996) 2000

1990 Purely passive dynamics (McGeer, 1990)

First computer-controlled robot (Raibert, 70s-80s)

Oriolo: Autonomous and Mobile Robotics - Biped Robots (by A. Paolillo and M.Vendittelli)

from the end of 90s

NAO QRIO (Aldebaran, 2005) (Sony, 2003)

iCub (IIT, 2009)

ASIMO (Honda, 2000) 2000 2002 2004 2006 2008 2010

CoMan (IIT, 2012) 2012

HRP-4 Romeo REEM-B (AIST, 2013) (Aldebaran, 2013) (Pal Robotics, 2008) 7 Oriolo: Autonomous and Mobile Robotics - Biped Robots (by A. Paolillo and M.Vendittelli)

HRP-2 (Kawada, 2002)

DARwIn-OP (Robotis)

biped basics terminology

torso

right leg

left leg

Oriolo: Autonomous and Mobile Robotics - Biped Robots (by A. Paolillo and M.Vendittelli)

biped basics terminology head left arm torso

right arm

right leg

left leg

Oriolo: Autonomous and Mobile Robotics - Biped Robots (by A. Paolillo and M.Vendittelli)

biped basics terminology

walking: cyclic alternating of 4 phases polygon of support (PoS): convex hull of the contact points robots with at feet have only single and double support phases
Oriolo: Autonomous and Mobile Robotics - Biped Robots (by A. Paolillo and M.Vendittelli)
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gait balance
statically stable gait: periodic locomotion with the bipeds CoM projection on the ground does not leave the PoS CoM is not enough to say anything about motion Zero Moment Point (ZMP): point of PoS where the resultant of the ground-reaction forces acts and where the horizontal moments are zero dynamically stable gait: the ZMP remains within (boundaries includes) the PoS during the walking gait
Oriolo: Autonomous and Mobile Robotics - Biped Robots (by A. Paolillo and M.Vendittelli)
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gait balance

static walker

dynamic walker

Oriolo: Autonomous and Mobile Robotics - Biped Robots (by A. Paolillo and M.Vendittelli)

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passive biped robots

energy efciency natural walking gait studied also to improve the locomotion of leg prosthesis do not work on level ground agility and responsiveness of motion limited
Oriolo: Autonomous and Mobile Robotics - Biped Robots (by A. Paolillo and M.Vendittelli)
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powered biped robots

represent the majority of biped robots today actuated joints energy input required control law needed robot with at feet or non-trivial feet
Oriolo: Autonomous and Mobile Robotics - Biped Robots (by A. Paolillo and M.Vendittelli)
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powered biped robots

PETMAN (by Boston Dynamics)

Oriolo: Autonomous and Mobile Robotics - Biped Robots (by A. Paolillo and M.Vendittelli)
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powered biped robots

CoMan (by Istituto Italiano di Tecnologia)!!

Oriolo: Autonomous and Mobile Robotics - Biped Robots (by A. Paolillo and M.Vendittelli)
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biped robot dynamics remember: biped walking gait is a cycle of DS and SS phases

the mathematical model consists of at least two parts: 1. set of differential equations describing the dynamics during the single support phase discrete model of the contact event (impact) when double support phase starts
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Oriolo: Autonomous and Mobile Robotics - Biped Robots (by A. Paolillo and M.Vendittelli)

dynamics of the single support phase

assumptions: (i) at supporting foot remains to the ground (no rotation) and (ii) the stance leg is an ideal pivot standard robot equations:

robots inertia matrix

generalize coordinates (joint variables)

centrifugal and Coriolis terms

vector of gravitational torques

actuators torques

as the robot state, the SS phase if I consider dynamics can be written in this way

Oriolo: Autonomous and Mobile Robotics - Biped Robots (by A. Paolillo and M.Vendittelli)

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dynamics of the impact an impact occurs when the swinging foot strikes the walking surface assumptions: rigid walking surface and instantaneous impact the impact model is essentially an initial condition from which the single support model evolves until the next impact

robot state just after the impact

robot state just before the impact

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Oriolo: Autonomous and Mobile Robotics - Biped Robots (by A. Paolillo and M.Vendittelli)

representation of the dynamic model

case 1: walking with point feet or at-footed hybrid model of walking
single support transition (impact)

single-mode

case 2: walking with non-trivial feet model of walking

at-footed

double-mode hybrid
toe-roll

hell rise

impact Oriolo: Autonomous and Mobile Robotics - Biped Robots (by A. Paolillo and M.Vendittelli)
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dynamics of a passive walker model description

Oriolo: Autonomous and Mobile Robotics - Biped Robots (by A. Paolillo and M.Vendittelli)

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dynamics of a passive walker model assumption

pinpointed masses

always in SS phase

mass-less lower leg plane walking surface

anelastic and slipp-less impact

Oriolo: Autonomous and Mobile Robotics - Biped Robots (by A. Paolillo and M.Vendittelli)

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dynamics of a passive walker dynamics of swing phase

biped is always in swing phase except when the support is instantaneously transferred from one foot to the other the dynamic model is expressed in term of

Oriolo: Autonomous and Mobile Robotics - Biped Robots (by A. Paolillo and M.Vendittelli)

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dynamics of a passive walker dynamics of transition phase

ideally during transition two things happen at the same time: (i) the swing leg touch the ground and (ii) the support leg leaves it pre- and post-impact congurations can be related in this way: conservation of angular momentum gives: providing the joint velocities relationship the impact phase is:

Oriolo: Autonomous and Mobile Robotics - Biped Robots (by A. Paolillo and M.Vendittelli)

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stability of passive walker governing equations of passive robots are hybrid since they consist of (i) non-linear differential equations and (ii) algebraic relationship traditional tool (like the automatic detection of limit cycle) cannot be used to study stability but the concept of gait stability is crucial for the performance analysis the concept of orbital stability is used
Oriolo: Autonomous and Mobile Robotics - Biped Robots (by A. Paolillo and M.Vendittelli)
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stability of passive walker typical limit cycle

Oriolo: Autonomous and Mobile Robotics - Biped Robots (by A. Paolillo and M.Vendittelli)

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stability of passive walker denition of orbital stability a system is orbitally stable if, starting from a steady closed phase trajectory, any nite disturbance leads to another nearby trajectory of similar shape furthermore, if in spite of the disturbances the system returns to the original cycle, the gait is called asymptotically orbitally stable

Oriolo: Autonomous and Mobile Robotics - Biped Robots (by A. Paolillo and M.Vendittelli)

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stability of passive walker denition of orbital stability

Oriolo: Autonomous and Mobile Robotics - Biped Robots (by A. Paolillo and M.Vendittelli)

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bibliography
E. Westervelt, J.W. Grizzle, C. Chevallereau, J. H. Choi, B. Morris, Feedback control of dynamic bipedal robot locomotion, Taylor and Francis Group, June 2007 S. Kajita, B. Espiau, Legged Robot, in Springer Handbook of Robotics, B. Siciliano, O. Khatib, Eds., Springer, pp. 615-645, 2008 A. Goswami, B. Thuilot, B. Espiau, A study of the passive gait of a compass-like biped robot: symmetry and chaos, The International Journal of Robotics Research, December 2008, vol. 17, pp. 1282-1301 A. Goswami, B. Espiau, A. Keramane, Limit cycle in a passive compass gait biped and passivity-mimicking control laws, Autonomous Robots 1997, vol. 4, no. 3, pp. 273-286

Oriolo: Autonomous and Mobile Robotics - Biped Robots (by A. Paolillo and M.Vendittelli)

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