A novel low-cost ZMP estimation method for humanoid gait using inertial measurement devices: Concept and experiments - LIRMM - Laboratoire d’Informatique, de Robotique et de Microélectronique de Montpellier Access content directly
Journal Articles International Journal of Humanoid Robotics Year : 2023

A novel low-cost ZMP estimation method for humanoid gait using inertial measurement devices: Concept and experiments

Abstract

Estimation and control of Zero Moment Point (ZMP) is a widely used concept for planning the locomotion of bipedal robots and is commonly measured using integrated joint angle encoders and foot force sensors. Contemporary methods for ZMP measurement involve built-in contact sensors such as joint encoders or instrumented foot force sensors. This paper presents a novel approach for computing ZMP for a humanoid robot using inertial sensor-based wireless foot sensor modules (WFSM). The developed WFSMs, strapped at different limb segments of a bipedal robot, measure lower limb joint angles in real-time. The joint angle trajectories, further transformed into cartesian position coordinates, are used for estimating the ZMP positions of humanoid robots using the planar biped model. The whole framework is presented through experimental studies for different reallife walking scenarios. Since the modules work based on the limb motion and inclination, any ground unevenness would be automatically reflected in the module output. Hence, this measurement process can be a convenient method for applications requiring humanoid control on uneven surfaces/ outdoor terrains. To compare the performance of the proposed model, ZMP is simultaneously measured from inbuilt foot force sensors and joint encoders of the robot. Statistical tests exhibit a high linear correlation between the proposed method with integrated encoders and foot force sensors (Pearson's coefficient, r > 0.99). Results indicate that ZMP estimated by WFSM is a viable method to monitor the dynamic gait balance of a humanoid robot and has potential application in outdoor and uneven terrains.
Fichier principal
Vignette du fichier
IJHR_ZMP_Preprint.pdf (744.57 Ko) Télécharger le fichier
Origin Files produced by the author(s)

Dates and versions

lirmm-03978124 , version 1 (08-02-2023)

Identifiers

Cite

Ratan Das, Ahmed Chemori, Neelesh Kumar. A novel low-cost ZMP estimation method for humanoid gait using inertial measurement devices: Concept and experiments. International Journal of Humanoid Robotics, 2023, 20 (01), pp.2350003. ⟨10.1142/S0219843623500032⟩. ⟨lirmm-03978124⟩
59 View
174 Download

Altmetric

Share

Gmail Mastodon Facebook X LinkedIn More