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18 2008 - 43 - kawazoesit.ac.jp Yoshihiko KAWAZOE Department of Human-Robotics, Faculty of Engineering, Saitama Institute of Technology In the previous paper, we realized the simple self-sustained humanlike robust walking & running NANBA of humanoid biped robot GENBE based on distributed control of physical body in a martial art utilizing instability without ZMP (Zero Moment Point) control, which uses only small active power with simple chaotic limit cycle, further developing into autonomous walking, running, instantaneous turn and the simple autonomous shock avoidance during falling down and instantaneous rising up. Instability makes the natural movement. This paper demonstrated using high-speed video camera the robustness of humanoid biped robot GENBE with distributed control of physical body who walks and runs everywhere even on the ice and snow. Key Words: Robotics, Humanoid Biped Robot, Robustness, NANBA Walk and NANBA Run, Limit Cycle. ASIMO 1) 2) ZMP Zero Moment Point ZMP

紀要18号 2008 論文 2 M川副-別刷 - 川副研究室-KAWAZOE-LAB · 2016. 7. 28. · instability without ZMP (Zero Moment Point) control, which uses only small active power

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Page 1: 紀要18号 2008 論文 2 M川副-別刷 - 川副研究室-KAWAZOE-LAB · 2016. 7. 28. · instability without ZMP (Zero Moment Point) control, which uses only small active power

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Yoshihiko KAWAZOE

Department of Human-Robotics, Faculty of Engineering, Saitama Institute of Technology

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In the previous paper, we realized the simple self-sustained humanlike robust walking & running NANBA

of humanoid biped robot GENBE based on distributed control of physical body in a martial art utilizing instability without ZMP (Zero Moment Point) control, which uses only small active power with simple chaotic limit cycle, further developing into autonomous walking, running, instantaneous turn and the simple autonomous shock avoidance during falling down and instantaneous rising up. Instability makes the natural movement. This paper demonstrated using high-speed video camera the robustness of humanoid biped robot GENBE with distributed control of physical body who walks and runs everywhere even on the ice and snow.

Key Words: Robotics, Humanoid Biped Robot, Robustness, NANBA Walk and NANBA Run, Limit Cycle.

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Page 2: 紀要18号 2008 論文 2 M川副-別刷 - 川副研究室-KAWAZOE-LAB · 2016. 7. 28. · instability without ZMP (Zero Moment Point) control, which uses only small active power

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� Fig.1 Ordinary side-step ( left side movement) of humanoid biped robot with ZMP, which utilizes static balancing (unit:second, high-speed video analysis:250 fps)

Page 3: 紀要18号 2008 論文 2 M川副-別刷 - 川副研究室-KAWAZOE-LAB · 2016. 7. 28. · instability without ZMP (Zero Moment Point) control, which uses only small active power

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Page 4: 紀要18号 2008 論文 2 M川副-別刷 - 川副研究室-KAWAZOE-LAB · 2016. 7. 28. · instability without ZMP (Zero Moment Point) control, which uses only small active power

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0.000 s� � 0.067 s 0.133 s� � 0.200 s� � 0.266 s� 0.333 s� 0.400 s � � 0.466 s� � 0.533 s� � 0.60 s�� � � � � � nearly state 1� � � � � � � � � � � � � � � � � � � nearly state 2 � � � � � � � � � nearly state 1 Fig.4 Simple self-sustained robust instantaneous NANBA side-step ( left side movement) of humanoid biped robot GENBE No.4-2007 based on distributed control of physical body in a martial art utilizing instability with Anti-ZMP, which uses only small active power. (high-speed video analysis:250 fps)

t=0.00[s] t=0.30[s] t=0.40[s] t= 0.60[s] � t=0.80 s

� � � � � � � � (a) Right side stepping with kick of ground by left leg.

� � t=0.00[s] � t=0.20[s] � t=0.40[s] � � � � � t=0.60[s] � � � � t=0.80[s] (b) Right side stepping using instability without kick of ground. � � � � � � � � � � Fig.5 Right side stepping by biped robot (250 fps) f�ö7%�T<^!�éê�ëì�í^BC

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� � Fig.6� NANBA Run of Naoko TAKAHASHI (Sakaiya Sport)�

Page 5: 紀要18号 2008 論文 2 M川副-別刷 - 川副研究室-KAWAZOE-LAB · 2016. 7. 28. · instability without ZMP (Zero Moment Point) control, which uses only small active power

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(d) TU0.200 (e) TU0.233 (f) TU0.333 (g) TU0.433 (h) TU0.533(e: nearly State 2)

(i) TU0.600 (j) TU0.667 (k) TU0.733 (l) TU0.799(i: nearly State 3)

(m: nearly State 4)

(m) TU0.899

Fig.7� Self-sustained humanlike robust walking NANBA by humanoid biped robot GENBE No.4 (height: 34 cm, weight 1.2 kg). Walking speed: 7.9 cm/s .� �

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Fig.8 Emergence of simple self-sustained humanlike robust quick stops and instantaneous turns of humanoid biped robot GENBE No.5-2006 for abrupt disturbance during NANBA walking. (every 5/30 frames).

Page 6: 紀要18号 2008 論文 2 M川副-別刷 - 川副研究室-KAWAZOE-LAB · 2016. 7. 28. · instability without ZMP (Zero Moment Point) control, which uses only small active power

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Fig.9 Subsumption Architecture of NANBA� walk of GENBE No.5 -2006 for obstacle avoidance and instantaneous NANBA turn (90 degrees).

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Page 7: 紀要18号 2008 論文 2 M川副-別刷 - 川副研究室-KAWAZOE-LAB · 2016. 7. 28. · instability without ZMP (Zero Moment Point) control, which uses only small active power

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(a)� � � � � � � � (b)� � � � � � � � � � (c)

(d) (e) (f)

(g) (h) (i)

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(m) (n) (o) (p) Fig.10 Humanoid biped robot GENBE who walks and runs everywhere on the ground.

Page 8: 紀要18号 2008 論文 2 M川副-別刷 - 川副研究室-KAWAZOE-LAB · 2016. 7. 28. · instability without ZMP (Zero Moment Point) control, which uses only small active power

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f144 0.00s f148 0.13s f152 � � 0.27s� � � f156 0.40s f160 0.53s

f164 0.67s � f168 0.80s� � � � f172� 0.93s � � � f176 1.06s f180 1.33s

(a) Walks on the floor in Fig.10(a)

� o48 � � 0.00s � � � � � � f52 0.13s f56 � 0.27s� f60 0.40s f64 0.53s

f68 0.67s f72 � � 0.80s� � � � � � f76 0.93s f80 1.06s f84 1.33s

(b) Walks on the floor in Fig.10(b)

� � � f52 0.00s f56� � � � � 0.13s � � � f60� � � � � � 0.27s� � � � � � o64� � � � � 0.40s� � � f68� � � � 0.53s

� f72 0.67s � � f76 � 0.80s� � f80 � 0.93s f84 � � 1.06s f88� � � � � 1.33s

� (c) Walks on the floor in Fig.10(b)

� � �� f56� � � 0.00s f60� � � � 0.13s � f64 � � � 0.27s� � � � f68 � 0.40s f72 0.53s

� � f76 0.67s � f80 � 0.80s� � � � � f84 0.93s � � � f88 1.06s f92 � 1.33s

(d) Walks on the floor in Fig.10(c)

Page 9: 紀要18号 2008 論文 2 M川副-別刷 - 川副研究室-KAWAZOE-LAB · 2016. 7. 28. · instability without ZMP (Zero Moment Point) control, which uses only small active power

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f160 0.00s f 164 0.13s f 168� � � � 0.27s� � � f172 0.40s f176 0.53s

� f180 0.67s f184� � � 0.80s� � � � � � f188 0.93s � � � f192 1.06s f196 1.33s

(e) Walks on the floor in Fig.10(d)

� f56� � � 0.00s f60 0.13s f64 � � � � 0.27s� � � f68 0.40s f72 0.53s

f76 0.67s � f80 0.80s� � � � � f84� 0.93s � � f88 1.06s f92 1.33s

(f) Walks on the floor in Fig.10(e)

� f52 0.00s f56 � � 0.13s f60� � � 0.27s� � � f64 0.40s f68 � 0.53s

f72 0.67s � f76 � 0.80s� � � � � � f80 0.93s � � � f84 1.06s f88 � 1.33s

(g) Walks on the floor in Fig.10(f)

f92 � 0.00s f96 � � 0.13s f100 � � 0.27s� � � f104 � 0.40s f108 � 0.53s

f112 0.67s � f116� � � � 0.80s� � � � � � f120 0.93s � � � f124 1.06s f128 1.33s

(h) Walks on the floor in Fig.10(g)

Page 10: 紀要18号 2008 論文 2 M川副-別刷 - 川副研究室-KAWAZOE-LAB · 2016. 7. 28. · instability without ZMP (Zero Moment Point) control, which uses only small active power

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f332 0.00s f336 0.13s f340 � 0.27s� � � f344 � 0.40s f348 � 0.53s

f352 0.67s � f356� � � 0.80s� � � � � � f360 � 0.93s � � � f364 1.06s f368 1.33s

(i) Walks on the floor in Fig.10(h)

� f24 0.00s f28 � 0.13s f32 � � 0.27s� � � f36 0.40s f40 0.53s

f44 0.67s � f48 � 0.80s� � � � � � f52 0.93s � � � f56 1.06s f60 1.33s

(j) Walks on the floor in Fig.10(i)

f116 0.00s f120 0.13s f124 0.27s� � � f128 0.40s f132 0.53s

f136 0.67s � f140 � 0.80s� � � � � � f144 0.93s � � � f148 1.06s f152 1.33s

(k) Walks on the floor in Fig.10(j)

� f252� � � 0.00s f256� 0.13s F260 � � � � 0.27s� � � F264 0.40s F268 0.53s

F272 0.67s � F276 � 0.80s� � � � � � F280 0.93s � � � F284 1.06s F288 1.33s

(l) Walks on the floor in Fig.10(k)

Page 11: 紀要18号 2008 論文 2 M川副-別刷 - 川副研究室-KAWAZOE-LAB · 2016. 7. 28. · instability without ZMP (Zero Moment Point) control, which uses only small active power

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� f164 0.00s f168 0.13s f172 � � 0.27s� � � f176 0.40s f180 0.53s

f184 0.67s � f188 � 0.80s� � � � � � f192 0.93s � � � f196 1.06s f200 1.33s

(m) Walks on the floor in Fig.10(l)

t= 0.00 s t= 0.10 s t= 0.20 s t= 0.30 s

t= 0.40 s t= 0.50 s t= 0.60 s t= 0.70 s

t= 0.80 s t= 0.90 s t= 1.00 s t= 1.10 s

t= 1.20 s t= 1.30 s t= 1.40 s t= 1.50 s

(n) Walks on the floor in Fig.10(m), (n), (o),and (p) Fig.11 Robustness of humanoid biped robot GENBE who walks and runs everywhere, even on the ice and snow. CX�ðY���Z[�\�Å�ÆÇ1]^

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Page 12: 紀要18号 2008 論文 2 M川副-別刷 - 川副研究室-KAWAZOE-LAB · 2016. 7. 28. · instability without ZMP (Zero Moment Point) control, which uses only small active power

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� � (a) � � � � � � (b) � � � � � � � (c) � � � � � � � (d)� � � � � � � (e)

� � � � (f)� � � � � � � (g) � � � � � � (h) � � � � � (i) � � � � � (j)

� � (k) � � � � � � � � (l) � � � � � � � (m) � � � � � (n) � � � � (o)

� � � (p)� � � � � � (q)� � � � � � � � � (r)� � � � � � � � � (s)� � � � � � (t)

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Fig.12 Robustness of humanoid biped robot GENBE who walks, runs and performs, anytime and anywhere. �YzB!C � e 14­e 17 8% ����øî�����¸��¸Ó�X�X�ðY��^_Å�ÆÇ�

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Page 13: 紀要18号 2008 論文 2 M川副-別刷 - 川副研究室-KAWAZOE-LAB · 2016. 7. 28. · instability without ZMP (Zero Moment Point) control, which uses only small active power

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� (a) � � � � � � (b) � � � � � � � � (c) � � � � � � (d)� � � � � � � � (e)

� � � (f)� � � � � � � � � (g) � � � � � (h) � � � � � � � (i) � � � � � � � (j)

(k) � � � � � � � (l) � � � � � � (m) � � � � � � (n) � � � � � � � (o)

Fig.13 Robustness of humanoid biped robot GENBE employed in the project type classrooms of Robotics.

� � (a) � � � � � � � � (b) � � � � � � (c) � � � � � (d)� � � � � � � � (e)

� � � � (f)� � � � � � � � (g) � � � � � � (h) � � � � � � � (i) � � � � � � � (j) Fig.14 Robustness of humanoid biped robot GENBE employed in Science Partnership Project1SPP2with S-High school and C-High school of technology.

� (a) � � � � � � (b) � � � � � � (c) � � � � � (d)� � � � � � � � (e)

� � � (f)� � � � � � � � (g) � � � � � � (h) � � � � � � (i) � � � � � � � (j) Fig.15 Robustness of humanoid biped robot GENBE employed in Science Partnership Project1SPP2with K- High School of technology

Page 14: 紀要18号 2008 論文 2 M川副-別刷 - 川副研究室-KAWAZOE-LAB · 2016. 7. 28. · instability without ZMP (Zero Moment Point) control, which uses only small active power

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(a) (b) (c) (d) (e)

(f) (g) (h) (i) (j)

(k) (l) (m) (n) (o)

(p) (q) (r) (s) (t)

Fig.16 Robustness of humanoid biped robot GENBE employed in Science Partnership Project1SPP2with I- High School of technology

� (a) � � � � � � � (b) � � � � � � (c) � � � � � � (d)� � � � � � � � (e)

� (f)� � � � � � � � (g) � � � � � � (h) � � � � � � � (i) � � � � � � � (j)

� � (k) � � � � � � � (l) � � � � � � (m) � � � � � � (n) � � � � � (o)

Fig.17 Robustness of humanoid biped robot GENBE employed in Science Partnership Project1SPP2with O- High School of technology.

Page 15: 紀要18号 2008 論文 2 M川副-別刷 - 川副研究室-KAWAZOE-LAB · 2016. 7. 28. · instability without ZMP (Zero Moment Point) control, which uses only small active power

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