History of Robotics Research and Development of Japan2011LocomotionRunning Gait Generation for Biped Robot with Horizontal Force Limit

Toru Takenaka	Honda R&D Co., Ltd. Fundamental Technology Research Center
Takashi Matsumoto	Honda R&D Co., Ltd. Fundamental Technology Research Center
Takahide Yoshiike	Honda R&D Co., Ltd. Fundamental Technology Research Center
Shinya Shirokura	Honda R&D Co., Ltd. Fundamental Technology Research Center

Increasing running speed of a biped robot often leads to the loss of balance due to slips and spins that occur immediately before the foot leaves or after the foot lands. In order to address this problem, we propose a method to generate running gait pattern for biped robots by using dynamics model that includes mass on both feet, an inverted pendulum and a flywheel. The inverted pendulum and the flywheel correspond to the upper body's horizontal motion and rotational motion, respectively. In the process of generating the instantaneous upper body motion, given that the vertical motion of the COG, the feet trajectory and the desired ZMP trajectory are provided, acceleration of the inverted pendulum is determined to satisfy the desired ZMP in general. In the case where horizontal ground reaction force exceeds the limit, acceleration of the inverted pendulum is adjusted and the flywheel is accelerated to compensate the adjustment. Through this method, a running gait pattern less susceptible to slipping is generated. Also, walking gait pattern and running gait pattern can be generated through unified framework by just changing the limit of the horizontal ground reaction force. To deal with walking, we previously proposed the method to generate gait pattern, by setting tentative cyclic gait pattern to be connected to the current gait pattern to be generated, and generate the current gait pattern to converge to the cyclic gait pattern. In this paper, the similar idea is extended to running. To be specific, by using the concept of "divergent component of the inverted pendulum's motion with change in the vertical acceleration", the current gait's desired ZMP trajectory is adjusted in order to match divergent components at the end of the current gait and at the beginning of the cyclic gait. The continuity of the gait generation is guaranteed through this method. Also, due to relaxed boundary condition, the amount of adjustment of the current gait's desired ZMP is smaller, compared to using position and velocity as a boundary condition. Using the proposed technique, running at 10 km/h is achieved on a real robot whose dimension are the same as ASIMO. 26th RSJ Best Paper Award in 2012.

走行しているロボット（ASIMO） — Running biped robot (ASIMO)

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