Development and Implementation of Walking Algorithms for Humanoid Robots

• Grant number: 16/03647-3
• Support Opportunities: Regular Research Grants
• Start date: June 01, 2016
• End date: May 31, 2018
• Field of knowledge: Engineering - Electrical Engineering - Industrial Electronics, Electronic Systems and Controls
• Principal Investigator: Rubens Junqueira Magalhães Afonso
• Grantee: Rubens Junqueira Magalhães Afonso
• Host Institution: Divisão de Engenharia Eletrônica (IEE). Instituto Tecnológico de Aeronáutica (ITA). São José dos Campos , SP, Brazil
• City of the host institution: São José dos Campos
• Associated researchers: Marcos Ricardo Omena de Albuquerque Maximo

Abstract

The objective of this proposal is to develop walking algorithms for humanoid robots. This area of research is at the state-of-the-art in the context of robotics, because of the importance of integrating the robots to the environments in which humans live and operate. Currently, model-based approaches have been the most successful being able to realize the walking movement of several distinct humanoid robotic platforms. The present proposal aims to improve the performance of the walk (in terms of speed and energy expenditure) and the stability (with respect to avoiding falls) in relation to the state-of-the-art. Therefore, it is intended to develop walking algorithms that overcome some of the difficulties encountered in the more recent approaches such as the use of a single mathematical model for the robot throughout the walking motion, the imposition of a constant height for the Center of Mass of the robot and pre-setting of the period for execution of a walking cycle. In order to validate the proposed algorithms with experiments, it is planned to acquire a software for simulation with a high-fidelity model and a humanoid robot suitable for research. (AU)

Scientific publications

(9)

(References retrieved automatically from Web of Science and SciELO through information on FAPESP grants and their corresponding numbers as mentioned in the publications by the authors)

MAXIMO, MARCOS R. O. A.; RIBEIRO, CARLOS H. C.; AFONSO, RUBENS J. M.. Real-time walking step timing adaptation by restricting duration decision for the first footstep. ADVANCED ROBOTICS, v. 34, n. 21-22, SI, p. 1420-1441, NOV 16 2020. (16/03647-3, 17/02055-8)

AFONSO, RUBENS J. M.; MAXIMO, MARCOS R. O. A.; GALVAO, ROBERTO K. H.. Task allocation and trajectory planning for multiple agents in the presence of obstacle and connectivity constraints with mixed-integer linear programming. INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL, v. 30, n. 14, JUL 2020. (16/03647-3)

MAXIMO, MARCOS R. O. A.; AFONSO, RUBENS J. M.. Mixed-integer quadratic programming for automatic walking footstep placement, duration, and rotation. OPTIMAL CONTROL APPLICATIONS & METHODS, v. 41, n. 6, SI, JUN 2020. (16/03647-3)

MADDALENA, EMILIO TANOWE; HARROP GALVAO, ROBERTO KAWAKAMI; MAGALHAES AFONSO, RUBENS JUNQUEIRA. Robust region elimination for piecewise affine control laws. AUTOMATICA, v. 99, p. 333-337, JAN 2019. (16/03647-3)

MAXIMO, MARCOS R. O. A.; RIBEIRO, CARLOS H. C.; AFONSO, RUBENS J. M.. Real-time walking step timing adaptation by restricting duration decision for the first footstep. ADVANCED ROBOTICS, v. 34, n. 21-22, p. 22-pg., 2020-10-06. (16/03647-3, 17/02055-8)

MAXIMO, MARCOS R. O. A.; RIBEIRO, CARLOS H. C.; AFONSO, RUBENS J. M.; IEEE. Mixed-Integer Programming for Automatic Walking Step Duration. 2016 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2016), v. N/A, p. 6-pg., 2016-01-01. (16/03647-3)

SILVA, CAROLINE C. D.; MAXIMO, MARCO R. O. A.; GOES, LUIZ C. S.. Energy efficient walking: combining height variation of the center of mass and curved feet. Journal of the Brazilian Society of Mechanical Sciences and Engineering, v. 46, n. 6, p. 12-pg., 2024-06-01. (16/03647-3)

MAXIMO, MARCOS R. O. A.; AFONSO, RUBENS J. M.. Mixed-integer quadratic programming for automatic walking footstep placement, duration, and rotation. OPTIMAL CONTROL APPLICATIONS & METHODS, v. 41, n. 6, p. 36-pg., 2020-06-22. (16/03647-3)

SILVA, CAROLINE C. D.; MAXIMO, MARCOS R. O. A.; GOES, LUIZ C. S.; COLOMBINI, EL; JUNIOR, PLJD; GARCIA, LTD; GONCALVES, LMG; SA, STD; ESTRADA, EDD; BOTELHO, SSD. Height Varying Humanoid Robot Walking through Model Predictive Control. 2019 LATIN AMERICAN ROBOTICS SYMPOSIUM, 2019 BRAZILIAN SYMPOSIUM ON ROBOTICS (SBR) AND 2019 WORKSHOP ON ROBOTICS IN EDUCATION (LARS-SBR-WRE 2019), v. N/A, p. 6-pg., 2019-01-01. (16/03647-3)