SpringerLink
Log in

ZMP-based motion planning algorithm for kinematically redundant manipulator standing on the ground

  • Original Research Paper
  • Published:
Intelligent Service Robotics Aims and scope Submit manuscript

Abstract

The human body can be modeled as a kinematically redundant manipulator which exploits “redundant degrees of freedom” to execute various motions in a suitable fashion. Differently from the typical kinematically redundant robots that are attached to the fixed ground, the zero moment point (ZMP) condition should be taken into account not to fall down. Thus, this paper investigates a motion planning algorithm for kinematically redundant manipulator standing on the ground. For this, a geometric constraint equation is derived from the existing ZMP equation. This constraint equation is formed like a second-order kinematic equation, which enables one to plan the ZMP trajectory in a feed-forward fashion. This constraint equation and the kinematic equation of the manipulator model are solved together. Then, the solution of this composite equation guarantees both the desired operational motion and the ZMP trajectory. The feasibility of the proposed algorithms is verified by simulating and experimenting several motions though a planar 3-DOF manipulator model.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price includes VAT (Germany)

Instant access to the full article PDF.

Institutional subscriptions

Fig. 1
Fig. 2
Fig. 3
Fig. 4
Fig. 5
Fig. 6
Fig. 7
Fig. 8
Fig. 9
Fig. 10

Similar content being viewed by others

References

  1. Nakamura Y (1991) Advanced robotics: redundancy and optimization. Addison-Wesley, New-York

    Google Scholar 

  2. Suh KC, Hollerbach JM (1987) Local versus global torque optimization of redundant manipulators. In: Proceedings of IEEE international conference on robotics and automation, pp 619–624

  3. Chiaverini S, Oriolo G, Walker ID (2008) Handbook of robotics. Kinematically redundant manipulators. Springer, London

    Google Scholar 

  4. Siciliano B, Slotine J-JE (1997) A general framework for managing multiple tasks in highly redundant robotic systems. In: Proceeding of IEEE internal conference on advanced robotics, pp 1211–1216

  5. Escande A, Mansard N, Wieber P-B (2014) Hierarchical quadratic programming: fast online humanoid-robot motion generation. Int J Robot Res 33(7):1006–1028

    Article  Google Scholar 

  6. Vukobratovic M, Frank AA, Jricic D (1970) On the stability of biped locomotion. IEEE Trans Biomed Eng BME 17(1):25–36

    Article  Google Scholar 

  7. Takanishi Q, Li A, Kato I (1993) Learning control for a biped robot with a trunk. In: Proceedings of IEEE/RSJ international conference on intelligent robots and systems, pp 1771–1777

  8. Dasgupta A, Nakamura Y (1999) Masking feasible walking motion of humanoid robotics from human motion capture data. In: Proceedings of IEEE international conference on robotics and automation, pp 1044–1049

  9. Park J, Kwon O (2001) Reflex control of biped robot locomotion on a slippery surface. In: Proceedings of IEEE international conference on robotics and automation, pp 4134–4139

  10. Kurazume R, Hasegawa T, Yoneda K (2003) The sway compensation trajectory for a biped robot. In: Proceedings of the IEEE/RSJ international conference on intelligent robots and systems, pp 925–931

  11. Chevallereau C, Abba G, Aoustin Y, Plestan F, Westervelt ER, Canudas-de-Wit C, Grizzle JW (2003) RABBIT: a testbed for advanced control theory. IEEE Control Syst Mag 23(5):57–79

    Article  Google Scholar 

  12. Kim J, Chung W, Youm Y, Lee B (2002) Real-time ZMP compensation method using null motion for mobile manipulators. In: Proceedings of IEEE international conference on robotics and automation, pp 1967–1972

  13. Sugihara T, Nakamura Y (2003) Contact phase invariant control for humanoid robot based on variable impedant inverted pendulum model. In: Proceedings of IEEE international conference on robotics and automation, vol. 1, IEEE, pp 51–56

  14. Kajita S, Kanehiro F, Kaneko K, Fujiwara K, Harada K, Yokoi K, Hirukawa H (2003) Biped walking pattern generation by using preview control of zero-moment point. In: Proceedings of IEEE international conference on robotics and automation, pp 1620–1626

  15. Suleiman W, Kanehiro F, Miura K, Yoshida E (2009) Improving ZMP-based control model using system identification techniques. In: Proceedings of IEEE/RAS international conference on humanoid robots, pp 74–80

  16. Park JH, Rhee YK (1998) ZMP trajectory generation for reduced trunk motions of biped robots. In: Proceedings of the IEEE/RSJ international conference on intelligent robots and systems, pp 90–95

  17. Wu H-M, Hwang C-L (2011) Trajectory-based control under ZMP constraint for the 3D biped walking via fuzzy control. In: Proceedings of IEEE international conference on fuzzy systems, pp 706–712

  18. Kim D, Kim N-H, Park G-T (2012) ZMP based neural network inspired humanoid robot control. Nonlinear Dyn 67(1):793–806

    Article  Google Scholar 

  19. Yoshikawa T (1985) Manipulability of robotic mechanisms. Int J Robot Res, pp 3–9

  20. Freeman RA, Tesar D (1998) Dynamic modeling of serial and parallel mechanisms/robotic systems, part I-methodology, part II-applications. Proceedings of 20th ASME mechanisms conference 15(3):7–27

    Google Scholar 

  21. So BR, Choi JY, Yi B-J, Kim WK (2005) A new ZMP constraint equation with application to motion planning of humanoid using kinematic redundancy. In: Proceedings of the IEEE international conference on intelligent robots and system, pp 1794–1800

  22. Sardain P, Bessonnet G (2004) Forces acting on a biped robot. Center of pressure-zero moment point. IEEE Trans Syst Man Cybernet Part A Syst Hum 34(5):630–637

    Article  Google Scholar 

  23. Sinyukov D, Desmond R, Dickerman M, Fleming J, Schaufeld J, Padir T (2014) Multi-modal control framework for a semi-autonomous wheelchair using modular sensor designs. Intell Serv Robot 7(3):145–155

Download references

Acknowledgments

This work is supported by the Technology Innovation Program (10040097) funded by the Ministry of Trade, Industry and Energy Republic of Korea (MOTIE, Korea) and supported by Mid-career Researcher Program through NRF grant funded by the MEST (NRF-2013R1A2A2A01068814). This work performed by ICT based Medical Robotic Systems Team of Hanyang University, Department of Electronic Systems Engineering was also supported by the BK21 Plus Program funded by National Research Foundation of Korea(NRF).

Author information

Authors and Affiliations

  1. Robotics R/BD Group, Korea Institute of Industrial Technology, Cheonan, Korea

    Byung-Rok So

  2. Department of Electronic Systems Engineering, Hanyang University, Seoul, Korea

    HwanTaek Ryu & Byung-Ju Yi

Authors
  1. Byung-Rok So
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. HwanTaek Ryu
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Byung-Ju Yi
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Byung-Ju Yi.

Rights and permissions

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

So, BR., Ryu, H. & Yi, BJ. ZMP-based motion planning algorithm for kinematically redundant manipulator standing on the ground. Intel Serv Robotics 8, 35–44 (2015). https://doi.org/10.1007/s11370-014-0164-8

Download citation

  • Received:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s11370-014-0164-8

Keywords

Search

Navigation