Stratégies d'actionneur avancées pour l'équilibre des robots ...
Ces dernières années, nous avons assisté à des progrès impressionnants dans le domaine de la robotique humanoïde, avec des robots capables de marcher, de courir ...
Aperçu du contrôle de COM
Description: <anchor>Aperçu du contrôle de COM</anchor> repose sur la prévision des positions futures du centre de masse du robot et la planification des mouvements en conséquence. Il s’agit de générer une trajectoire qui assure la stabilité et de contrôler les actionneurs pour suivre cette trajectoire de près. Le système de contrôle calcule la trajectoire souhaitée du COM sur une courte fenêtre de temps, permettant au robot de s'ajuster à l'avance plutôt que de simplement réagir aux perturbations. Cette méthode est efficace pour assurer un mouvement fluide et stable, en particulier pendant la marche.
Preview Control applied for humanoid robot motion generation | Request PDF
Preview Control applied for humanoid robot motion generation \| Request PDF

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Article

# Preview Control applied for humanoid robot motion generation

- January 2019
- Archives of Control Sciences 29(1):111-132

- 29(1):111-132

DOI: [10.24425/acs.2019.127526](http://dx.doi.org/10.24425/acs.2019.127526)

Authors:

[![M. Szumowski](data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAAEAAAABCAYAAAAfFcSJAAAADUlEQVR42mN89OjNfwAJDwOxHEacwgAAAABJRU5ErkJggg==)](scientific-contributions/Maksymilian-Szumowski-2069104217)

[M. Szumowski](scientific-contributions/Maksymilian-Szumowski-2069104217)

[M. Szumowski](scientific-contributions/Maksymilian-Szumowski-2069104217)

- This person is not on ResearchGate, or hasn't claimed this research yet.


[![Magdalena Żurawska at Comarch SA](data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAAEAAAABCAYAAAAfFcSJAAAADUlEQVR42mN89OjNfwAJDwOxHEacwgAAAABJRU5ErkJggg==)](profile/Magdalena-Zurawska-7)

[Magdalena Żurawska](profile/Magdalena-Zurawska-7)

- Comarch SA

[![Teresa Zielinska at Warsaw University of Technology](data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAAEAAAABCAYAAAAfFcSJAAAADUlEQVR42mN89OjNfwAJDwOxHEacwgAAAABJRU5ErkJggg==)](profile/Teresa-Zielinska)

[Teresa Zielinska](profile/Teresa-Zielinska)

- [Warsaw University of Technology](https://www.researchgate.net/institution/Warsaw_University_of_Technology)

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[Citations (9)](publication/332867870_Preview_Control_applied_for_humanoid_robot_motion_generation#citations) [References (7)](publication/332867870_Preview_Control_applied_for_humanoid_robot_motion_generation#references)

## Abstract

This paper presents a concept of humanoid robot motion generation using the dedicated simplified dynamic model of the robot (Extended Cart-Table model). Humanoid robot gait with equal steps length is considered. Motion pattern is obtained here with use of Preview Control method. Motion trajectories are first obtained in simulations (off-line) and then they are verified on a test-bed. Tests performed using the real robot confirmed the correctness of the method. Robot completed a set of steps without losing its balance.

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## Citations (9)

## References (7)

... Here, we use the Motion Generation System (MGS). This system was developed and tested on our previous platform \[28,29\]. The role of the Motion Planner is to generate set of foot placements on the ground surface for the given task specified by its parameters. ...

... As a solution for CoM generation algorithm, the module utilizes the Preview Control method similarly as in \[31\]. More details about the implementation of the Preview Control can be found in \[28\]. ...

[Inverse kinematics solution for humanoid robot minimizing gravity-related joint torques](publication/377593117_Inverse_kinematics_solution_for_humanoid_robot_minimizing_gravity-related_joint_torques)

Article

Full-text available

- Jan 2022

- [Kacper Mikołajczyk](https://www.researchgate.net/scientific-contributions/Kacper-Mikolajczyk-2190912296)
- [Maksymilian Szumowski](https://www.researchgate.net/scientific-contributions/Maksymilian-Szumowski-2069104217)
- [Łukasz Woliński](https://www.researchgate.net/scientific-contributions/Lukasz-Wolinski-2082636846)

[View](publication/377593117_Inverse_kinematics_solution_for_humanoid_robot_minimizing_gravity-related_joint_torques)

... Body dynamics is crucial in this case. A broad range of different approaches is employed \[13,17,22,27\]. ...

... The humanoids have 19DOF, in that 6DOF in each leg ( ther. Such robots are used in our research on the methods of motion synthesis, taking into account the whole body dynamics \[17,27\]. ...

[Transforming Biological Patterns into Robot Concepts](publication/368826974_Transforming_Biological_Patterns_into_Robot_Concepts)

Article

- Feb 2023

- [Teresa Zielińska](https://www.researchgate.net/scientific-contributions/Teresa-Zielinska-2224368836)

Biology not only provides inspiration in the design of walking machines, but also suggests detailed design solutions. Concise information on legged locomotion in the animal world is presented, and the relationships between engineering solutions and the biological world are shown. The construction of animal legs is briefly described and the most commonly used leg structures for walking machines are discussed, including references to biological patterns. Examples of bio-inspired walking machines developed by our team are given and several concepts of bio-inspired robots are discussed. The general aim of the article is to show how knowledge of the animal world inspires innovative design solutions for robots intended for practical applications.

[View](publication/368826974_Transforming_Biological_Patterns_into_Robot_Concepts)

Show abstract

... In equilibrium, the torque around the X axis is equal to zero. Following the literature (e.g., Kajita et al. 18 and Szumowski et al. 33 ), the vertical accelerations of point masses are neglected together with the acceleration of the pivot point. This leads to the following equilibrium condition: ...

... The efficiency of the models utilizing an inverted pendulum was verified experimentally by many real-time applications, for example, Chengju Liu et al., 5 Sugihara et al., 32 and Szumowski et al. 33 The dynamical equations of DIP are often solved in real-time for the purpose of fast physical pendulum stabilization, for example, Pathompong Jaiwat et al. 28 Control of humanoids using inverted pendulum models is not as demanding, because the human body sway is much slower than that of a pendulum. The real-time motion control algorithms using inverted pendulum models leave a lot of space for supplementary computations, if they are needed. ...

[Variable Inverted Pendulum Applied to Humanoid Motion Design](publication/349041443_Variable_Inverted_Pendulum_Applied_to_Humanoid_Motion_Design)

Article

Full-text available

- Feb 2021

- [![Teresa Zielinska](data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAAEAAAABCAYAAAAfFcSJAAAADUlEQVR42mN89OjNfwAJDwOxHEacwgAAAABJRU5ErkJggg==)Teresa Zielinska](https://www.researchgate.net/profile/Teresa-Zielinska)
- [Gabriel R. Rivera Coba](https://www.researchgate.net/scientific-contributions/Gabriel-R-Rivera-Coba-2189345462)
- [Weimin Ge](https://www.researchgate.net/scientific-contributions/Weimin-Ge-2162778335)

Double inverted pendulum model, stationary or on a cart, is computationally the simplest out of the range of reasonable models used for anthropomorphic robots motion synthesis. However, it is still not sufficient for describing more complex situations. The novel concept of variable double inverted pendulum (VDIP) for static postures and VDIP on cart (VDIPC) for dynamic cases is proposed. It provides a simplified but a sufficiently accurate tool for planning the human-like static and dynamic robot postures. Its variable parameters enable the description of both human static postures and motion dynamics. The variable length of the lower link is essential for the representation of postures attained by bending legs. The studies of a set of static and dynamic postures were used for deducing and verifying the locations of lower and upper joint of a double pendulum and the point masses. To justify the concept, human body and pendulum behaviors are compared taking into account a typical model of the human body. Static analysis was conducted by considering static human postures. Dynamic conditions were analyzed using the data acquired from human motion and thus the VDIPC definition was established. The zero moment point trajectories of the human and of VDIPC were compared, validating the correctness of VDIPC in dynamic situations. The formal description of VDIPC is provided together with the torques equilibrium condition needed for evaluating the dynamic postural stability, with the VDPIC representing the robot configuration. The VDPIC state equations are formulated in a form required by the predictive control method. The paper contributes to the motion synthesis methods of anthropomorphic robots taking into account postural control.

[View](publication/349041443_Variable_Inverted_Pendulum_Applied_to_Humanoid_Motion_Design)

Show abstract

... Knowledge of the coordinated movement of body parts also allows the development of simplified models of locomotion \[11\]. Inverted pendulum models with a rigid rod or double inverted pendulum models are used to describe the properties of slow gaits and to synthesize \[12\] controllers. The spring model of an inverted pendulum represents the fast gaits \[13\]. ...

[The Measure of Motion Similarity for Robotics Application](publication/368224783_The_Measure_of_Motion_Similarity_for_Robotics_Application)

Article

Full-text available

- Feb 2023
- SENSORS-BASEL

- [![Teresa Zielinska](data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAAEAAAABCAYAAAAfFcSJAAAADUlEQVR42mN89OjNfwAJDwOxHEacwgAAAABJRU5ErkJggg==)Teresa Zielinska](https://www.researchgate.net/profile/Teresa-Zielinska)
- [Gabriel R. Rivera Coba](https://www.researchgate.net/scientific-contributions/Gabriel-R-Rivera-Coba-2189345462)

A new measure of motion similarity has been proposed. The formulation of this measure is presented and its logical basis is described. Unlike in most of other methods, the measure enables easy determination of the instantaneous synergies of the motion of body parts. To demonstrate how to use the measure, the data describing human movement is used. The movement is recorded using a professional motion capture system. Two different cases of non-periodic movements are discussed: stepping forward and backward, and returning to a stable posture after an unexpected thrust to the side (hands free or tied). This choice enables the identification of synergies in slow dynamics (stepping) and in fast dynamics (push recovery). The trajectories of motion similarity measures are obtained for point masses of the human body. The interpretation of these trajectories in relation to motion events is discussed. In addition, ordinary motion trajectories and footprints are shown in order to better illustrate the specificity of the discussed examples. The article ends with a discussion and conclusions.

[View](publication/368224783_The_Measure_of_Motion_Similarity_for_Robotics_Application)

Show abstract

... Journal of Automation, Mobile Robotics and Intelligent Systems VOLUME 15, N°1 2021 When generating motion primitives the previously designed and evaluated Motion Generation System (MGS) \[14\] and \[13\] is used. Structure of this system is presented in �igure 2. Motion Primitives are using the motion parameters. ...

[Humanoid Robot Path Planning Using Rapidly Explored Random Tree and Motion Primitives](publication/367897792_Humanoid_Robot_Path_Planning_Using_Rapidly_Explored_Random_Tree_and_Motion_Primitives)

Article

Full-text available

- Jul 2021

- [Maksymilian Szumowski](https://www.researchgate.net/scientific-contributions/Maksymilian-Szumowski-2069104217)
- [![Teresa Zielinska](data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAAEAAAABCAYAAAAfFcSJAAAADUlEQVR42mN89OjNfwAJDwOxHEacwgAAAABJRU5ErkJggg==)Teresa Zielinska](https://www.researchgate.net/profile/Teresa-Zielinska)

Path planning is an essential part of the control system of any mobile robot. In this article the path planner for a humanoid robot is presented. The short description of an universal control framework and the Motion Generation System is also presented. Described path planner utilizes a limited number of motions called the Motion Primitives. They are generated by Motion Generation System. Four different algorithms, namely the: Informed RRT, Informed RRT with random bias, and RRT with A\* likeheuristics were tested. For the last one the version with biased random function was also considered. All mentioned algorithms were evaluated considering three dif ferent scenarios. Obtained results are described and discussed.

[View](publication/367897792_Humanoid_Robot_Path_Planning_Using_Rapidly_Explored_Random_Tree_and_Motion_Primitives)

Show abstract

... As it can be used to plan and execute movements, robot kinematics is important, it is split into forward and inverse kinematics. Forward kinematics corresponds to using the kinematic equations of the robot to calculate the position of the end effector from the specified parameter values \[12,15,16\]. On the other hand, reverse cinematics corresponds to using the kinematics equations of a robot to determine the joint parameters that provide the target position of the end effector. ...

[NAO Humanoid Robot Obstacle Avoidance Using Monocular Camera](publication/339532880_NAO_Humanoid_Robot_Obstacle_Avoidance_Using_Monocular_Camera)

Article

Full-text available

- Feb 2020

- [![Walaa Gouda](data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAAEAAAABCAYAAAAfFcSJAAAADUlEQVR42mN89OjNfwAJDwOxHEacwgAAAABJRU5ErkJggg==)Walaa Gouda](https://www.researchgate.net/profile/Walaa-Gouda-2)
- [Randa Jabeur Ben Chikha](https://www.researchgate.net/scientific-contributions/Randa-Jabeur-Ben-Chikha-2171161883)

[View](publication/339532880_NAO_Humanoid_Robot_Obstacle_Avoidance_Using_Monocular_Camera)

[The Measure of Motion Similarity for Robotics Application](publication/362929765_The_Measure_of_Motion_Similarity_for_Robotics_Application)

Chapter

- Jan 2023

- [![Teresa Zielinska](data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAAEAAAABCAYAAAAfFcSJAAAADUlEQVR42mN89OjNfwAJDwOxHEacwgAAAABJRU5ErkJggg==)Teresa Zielinska](https://www.researchgate.net/profile/Teresa-Zielinska)
- [Gabriel R. Rivera Coba](https://www.researchgate.net/scientific-contributions/Gabriel-R-Rivera-Coba-2189345462)

The measure of motion similarity is defined. The measure is explained on the example of two different movement sequences, namely the step forward and backward and the reaction to the side push. The entered measure takes into account the displacements of body points. In this study, the relationship between the displacement of individual point masses of the body and the displacement of the resultant mass was investigated. It has been shown that the introduced measure of the similarity of movement allows to study the coordination of movements of human or humanoid robot body parts, which is useful for the synthesis of humanoid movement.

[View](publication/362929765_The_Measure_of_Motion_Similarity_for_Robotics_Application)

Show abstract

[Design and Simulation of a Walking Biped Robot using MATLAB/Simscape/Multibody](publication/352800153_Design_and_Simulation_of_a_Walking_Biped_Robot_using_MATLABSimscapeMultibody)

Article

Full-text available

- Jun 2021

- [![Nentawe Y. Goshwe](data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAAEAAAABCAYAAAAfFcSJAAAADUlEQVR42mN89OjNfwAJDwOxHEacwgAAAABJRU5ErkJggg==)Nentawe Y. Goshwe](https://www.researchgate.net/profile/Nentawe-Goshwe)
- [![Agbo O. David](data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAAEAAAABCAYAAAAfFcSJAAAADUlEQVR42mN89OjNfwAJDwOxHEacwgAAAABJRU5ErkJggg==)Agbo O. David](https://www.researchgate.net/profile/Agbo_David)
- [![Jonathan Enokela](data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAAEAAAABCAYAAAAfFcSJAAAADUlEQVR42mN89OjNfwAJDwOxHEacwgAAAABJRU5ErkJggg==)Jonathan Enokela](https://www.researchgate.net/profile/Jonathan-Enokela)

[View](publication/352800153_Design_and_Simulation_of_a_Walking_Biped_Robot_using_MATLABSimscapeMultibody)

[Solving Inverse Kinematics of Humanoid Robot Using A Redundant Tree-shaped Manipulator Model](publication/349829611_Solving_Inverse_Kinematics_of_Humanoid_Robot_Using_A_Redundant_Tree-shaped_Manipulator_Model)

Conference Paper

- Dec 2020

- [Kacper Mikołajczyk](https://www.researchgate.net/scientific-contributions/Kacper-Mikolajczyk-2190912296)
- [Maksymilian Szumowski](https://www.researchgate.net/scientific-contributions/Maksymilian-Szumowski-2069104217)
- [Przemysław Płoński](https://www.researchgate.net/scientific-contributions/Przemyslaw-Plonski-2190969897)
- [![Paweł Żakieta](data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAAEAAAABCAYAAAAfFcSJAAAADUlEQVR42mN89OjNfwAJDwOxHEacwgAAAABJRU5ErkJggg==)Paweł Żakieta](https://www.researchgate.net/profile/Pawel_Zakieta)

[View](publication/349829611_Solving_Inverse_Kinematics_of_Humanoid_Robot_Using_A_Redundant_Tree-shaped_Manipulator_Model)

Selfsynchronization and self-stabilization of 3D bipedal walking gaits

- Jan 2018
- ROBOT AUTON SYST
- 43-60

C. C
, H. R
, D. S, Y. A
, and J. G
: Selfsynchronization and self-stabilization of 3D bipedal walking gaits. Robotics
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A three-dimensional passivedynamic walking robot with two legs and knees

- Jan 2011
- INT J ROBOT RES
- 607-615

S.H. C
, M. W
, and A. R
: A three-dimensional passivedynamic walking robot with two legs and knees. International Journal of
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Walking pattern generation for a humanoid robot with compliant joints

- Jan 2016
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Z. L, N.G. T
, and D.G C
: Walking pattern generation
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- Jan 2016
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- Jan 2004
- 157-173

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- ![Kensuke Harada](data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAAEAAAABCAYAAAAfFcSJAAAADUlEQVR42mN89OjNfwAJDwOxHEacwgAAAABJRU5ErkJggg==)[Kensuke Harada](https://www.researchgate.net/profile/Kensuke-Harada)
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- \[...\]
- ![Shuuji Kajita](data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAAEAAAABCAYAAAAfFcSJAAAADUlEQVR42mN89OjNfwAJDwOxHEacwgAAAABJRU5ErkJggg==)[Shuuji Kajita](https://www.researchgate.net/profile/Shuuji-Kajita)

In this paper, we generate a biped gait of a humanoid robot that looks like a human's one. To generate a human like motion, we first capture the walking motion of a human. Then, we analyze the captured data and obtain several information such as the relationship between the step length and waist height etc. We consider applying these informations to the real humanoid robot. Also, when the human ... \[Show full abstract\] walks, the sway of the waist is smaller than most of the humanoid robot's one. By compensating the angular momentum of the robot and by modifying the ZMP trajectory, we show that sway of the robot's waist can be smaller. We show the effectiveness of the proposed method through simulation results.

[Read more](publication/317923410_2A1-D15_Walking_Pattern_Generator_for_Humanoid_Robots_based_on_Human_Walking_Motion)

Conference Paper

### [Dynamic Stability Analyses Based on ZMP of a Wheel-based Humanoid Robot](publication/221258056_Dynamic_Stability_Analyses_Based_on_ZMP_of_a_Wheel-based_Humanoid_Robot)

January 2006

- [Yanjie Li](https://www.researchgate.net/scientific-contributions/Yanjie-Li-11509647)
- [Dalong Tan](https://www.researchgate.net/scientific-contributions/Dalong-Tan-2032734718)
- ![Zhenwei Wu](data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAAEAAAABCAYAAAAfFcSJAAAADUlEQVR42mN89OjNfwAJDwOxHEacwgAAAABJRU5ErkJggg==)[Zhenwei Wu](https://www.researchgate.net/profile/Zhenwei_Wu3)
- \[...\]
- [Di Zu](https://www.researchgate.net/scientific-contributions/Di-Zu-29163123)

For wheel-based humanoid robot, the dynamic stability is also an important question just like for biped robot. This paper unites the new recursive Newton-Euler method for dynamic modeling and the ZMP concept and then obtains the ZMP model of the robot. The merit of this model is that it is a function of the position, velocity and acceleration of joints in joint space and easier to realize ... \[Show full abstract\] realtime control due to less calculation. Calculation and simulation show that the waist motion takes the main effect on the dynamic stability of the robot. Using the compensation of motion of the waist, the robot can realize dynamic motion. This paper also presents the concepts of the valid stable region and stable degree for the wheel-based robot.

[Read more](publication/221258056_Dynamic_Stability_Analyses_Based_on_ZMP_of_a_Wheel-based_Humanoid_Robot)

Conference Paper

Full-text available

### [Human gait simulation from a reduced set of low-dimensional tasks using hierarchical control](publication/337949401_Human_gait_simulation_from_a_reduced_set_of_low-dimensional_tasks_using_hierarchical_control)

December 2019

- ![Melya Boukheddimi](data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAAEAAAABCAYAAAAfFcSJAAAADUlEQVR42mN89OjNfwAJDwOxHEacwgAAAABJRU5ErkJggg==)[Melya Boukheddimi](https://www.researchgate.net/profile/Melya-Boukheddimi)
- ![François Bailly](data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAAEAAAABCAYAAAAfFcSJAAAADUlEQVR42mN89OjNfwAJDwOxHEacwgAAAABJRU5ErkJggg==)[François Bailly](https://www.researchgate.net/profile/Francois-Bailly)
- ![Philippe Souères](data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAAEAAAABCAYAAAAfFcSJAAAADUlEQVR42mN89OjNfwAJDwOxHEacwgAAAABJRU5ErkJggg==)[Philippe Souères](https://www.researchgate.net/profile/Philippe-Soueres)
- ![Bruno Watier](data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAAEAAAABCAYAAAAfFcSJAAAADUlEQVR42mN89OjNfwAJDwOxHEacwgAAAABJRU5ErkJggg==)[Bruno Watier](https://www.researchgate.net/profile/Bruno-Watier)

In this paper, we propose to use the hierarchical tasks framework used in humanoid robotics for simulating the human gait from a reduced set of ordered tasks. We simulated human gait with a whole-body model using hierarchical control, and compared the simulated motion with experimental data obtained from a motion capture system. We hypothesized that the control of a reduced set of low-dimensional ... \[Show full abstract\] key tasks could lead to closely reproduce the human gait.

[View full-text](publication/337949401_Human_gait_simulation_from_a_reduced_set_of_low-dimensional_tasks_using_hierarchical_control)

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