This paper presents research advances in motion planning for humanoid robots, which has been a focus of robotics research in recent years. Fuzzy logic algorithm, neural network algorithm and genetic algorithm are used for gait planning.
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Original Title
The Research of Motion Planning for Humanoid Robots
This paper presents research advances in motion planning for humanoid robots, which has been a focus of robotics research in recent years. Fuzzy logic algorithm, neural network algorithm and genetic algorithm are used for gait planning.
This paper presents research advances in motion planning for humanoid robots, which has been a focus of robotics research in recent years. Fuzzy logic algorithm, neural network algorithm and genetic algorithm are used for gait planning.
The Research of Motion Planning for Humanoid Robots
Lu Xueqin, Qiu Rongfu
Department of Information and Control Engineering Shanghai University of Electric Power Shanghai, China e-mail: lvxueqin@shiep.edu.cn Abstract-This paper presents research advances in motion planning for humanoid robots, which has been a focus of robotics research in recent years. The twelve-link model of humanoid robot is analyzed. Then the intelligent control techniques on path planning and gait planning have been introduced. The three algorithms of gait planning are fuzzy logic algorithm, neural network algorithm and genetic algorithm. The analysis and estimation aim to provide a typical overview on motion planning for humanoid robots. Keywords-humanoid robot; path planning; gaits planning; fuzzy logic algorithm; neural network algorithm; genetic algorithm. I. INTRODUCTION The research in humanoid robots is now on its way of diverging into various categories. The research on such areas as artificial intelligence, hardware development, realization of biped locomotion, and interaction with the environment are gaining a rapid phase of development with the help of the rapid growth of technology [1]. By today, it has come to a situation, where the robot should be able to perform a wide variety of functions that helps people in their daily life. Humanoid robots are designed to imitate human movement, behavior, and activities. These robots can sense, actuate, plan, control, and execute activities. Among the successful humanoid robots include ASIMO from Honda, QRIO from Sony,, and Advanced Media [2]. In China some famous University like National University of Defense Technology, Harbin Institute of Technology has developed Forerunner and HIT , but there are some gaps on key technologies between China and Japan. Such robots require both path planning and gait planning. While in the field of humanoid robot, there are some limitations in the biped walking velocity, stability and adapting to environment. At some externs, the function of humanoid robot is depended by motion planning. For humanoid robots poses a particular challenge. Developing practical motion planning algorithms for humanoid robots is a daunting task given that such robots typically have 30 or more degrees of freedom (DOF) [3]. The problem is further complicated by the fact that humanoid robots must be controlled very carefully in order to maintain overall static and dynamic stability. These constraints severely restrict the set of allowable configurations and prohibit the direct application of existing motion planning techniques. In the paper, we introduced the classic model of the humanoid robot first, which is the foundation of designing humanoid robot. Then, we discuss the motion planning which focus on path planning and gait planning. The three methods will be showed to solve the problem of the gait planning. We also discuss the advantages and disadvantages of the algorithms. At last, we may get an expectation of development of the motion planning for humanoid robot. II. THE MODEL OF HUMANOID ROBOT The accuracy of the Kinetic model directly decides the actual movement characteristics of the humanoid robot. The model designed more accurately, the results of calculation will be more closed to the actual motion characteristics. Otherwise, the calculation results may be very different from the actual movement. Humanoid robot is a complex structure and nonlinear system, which has many degrees of freedom and redundant multi-variable, so it is very hard and cockamamie to establish a very precise model; Even if accurate models can be established, the work of calculation will be very 2009 International Conference on Artificial Intelligence and Computational Intelligence 978-0-7695-3816-7/09 $26.00 2009 IEEE DOI 10.1109/AICI.2009.335 322 heavy and it is not conducive to analyze problems and unable to meet the requests of real-time control. In order to establish a comparison of the kinetic equation which can truly reflect the actual humanoid robot motion characteristics, we need to be simplified the robot platform. At present, the international usually use the seven-link dynamic model (in figure 1).
Figure 1. Seven-links model According to this kinetic model, we can be able to design a better walking gait. However, it increased the coordination of moving function, which increase the degree of freedom in the mechanism, the direct application of two-legged robot model of the seven-link will not be able to describe more complex movements. Thus, we should consider the effect of upper limbs and head to the robot movement, basing on the seven-link dynamic model of the humanoid robot. Then we may establish a more appropriate model. Following the idea of seven-link model, the humanoid robot between any two adjacent joints of the connecting rod are seen as a rigid body, and assuming that the quality of each rigid body uniformly distributed and the center of mass at its geometric center. Ignoring the effects of the hands to the system, we define that its head, arm and forearm as the center of mass which is located at the geometric center of the rigid body, so the robot platform can simplify a model of twelve-link which is connecting joints each other. Some or all of the connecting 12 rods of the coordination of movement complete the robotic movement. Humanoid robot model of the connecting 12 robs are shown in figure 2 [4].
Figure 2. Twelve-link model In order to further simplify the model for gait analysis and design, we usually use the method that there are no interaction between sagittal movement and lateral movement, the sagittal movement and lateral movement are shown in the figure 3 [5].
Figure 3. Models of two planes III. THE METHODS OF MOTION PLANNING FOR HUMANOID ROBOT A. Path planning Path planning can create an ordered sequence of objective points that the robot must attain. Figure 4 present the path planning problems in the research [6]. Kffner and Chestnutt [7] introduced a classic gait planning strategy called Game-Theoretic, the core ideology is heuristic search, the principle of the strategy is shorn if fig.5. The more about the principle we can refer the journal [7]. But the off-line method often took more time or produced longer plans. And now some researchers have advanced the reformulation of HSP 323 (Heuristic Search Planner), which is based on the same ideas and heuristic as HSP, but searches backward form the goal rather than forward form the initial state. As a result it can produce better plans, often in less time [8].
Figure 4. The basic path planning problem
Figure 5. Principle of heuristic search Another path planning method is basing on the sensor. It is a real-time planning method, mainly used in dynamic noholonomic environment. It can solve the problem of real-time and practicality. For example, vision sensing is the most effective form for humanoid robots understanding their environment, recognition of the objects around them and navigating from one point to another. B. Gait planning Because of the high DOFs and complex mechanical structure, the precise dynamics model of the humanoid is difficult to obtain. Therefore, intelligent techniques are naturally a good choice in planning and control of humanoid robots. The gait planning of humanoid robot is achieved by the synergies between the off-line gait planning and the on-line postural adjustment. 1) Fuzzy logic method In designing a fuzzy algorithm, one usually needs to determine parameters such as the defuzzzification method, the membership functions, and the fuzzy rules. There exist some standard defuzzification methods such as the maximum criterion method, the mean of maximum method, and the center of area method [9]. The fuzzy navigation algorithm is summarized as follows: Step 1: Given the initial and the desired final configurations. Step 2: Use the information measured by the sensors to determine the parameter. Step3: Use the fuzzy rules and the center-of-area defuzzification method to determine the priorities. Step 4: If has the highest priority, then the robot is driven to move in the direction. Step5: Repeat the procedure in Step 2 through Step 5 until the goal configuration is reached. The above method will increase the accuracy of self-positioning and environment recognition of the robot. Another advantage is the development of fuzzy navigation algorithm, which is simple and easy to implement. However, due to the changeable posture of humanoid robot and the uncertainty environment, the fuzzy control methods are extremely complex. So the current methods cant get an ideal experimental result. 2) Neural network method Since neural network have an inherent capability of learning and approximating nonlinear functions, it is attractive to apply them in robot control systems for modeling and compensation purposes. Intelligent control systems can benefit from the advances in artificial neural networks as a tool for on-line learning optimization, and optimal policy making. The basic concept of the neromodulatory neural network model is schematically illustrated in figure 6 [10]. 324
Figure 6. The concept of NN It is observed that the proposed method has high adaptability against environmental perturbations. However, generally, the evolved neural controllers could be fragile in inexperienced environments, especially in real worlds. 3) Genetic algorithm method It is considered that GA can be efficiently applied of trajectory generation of the biped natural motion on the basis of energy optimization as well as for walking control of biped robots and for generation of behavior-based control of these systems. The hierarchical trajectory generation method consists of two layers: one is the evolutionary programming (EP) layer which optimizes the interpolated configuration of biped locomotion robots. The trajectory of biped is generated using ZMP stability conditions. The GA optimization method is presented in figure 7 [11].
Figure 7. GA process The research of advanced GA is on the possible optimization criteria that are path length, energy consumption, smoothness and time needed for movement [12]. The GA has shown very good results in environments of different kind, but not in all possible environments. All in all, the extended GA works very promisingly. Utilising the active search overcomes the drawbacks of the earlier version of the path planning software. Thus, the extended GA is suitable for universal usage now. IV. DISCUSS Each of the proposed paradigms has its own merits and drawbacks. To overcome the drawback, certain integration and synthesis of hybrid techniques (symbiotic intelligence) are needed for efficient application in humanoid robotics. For example, the method of humanoid walking gait using GA-based neural network is able to generate near-optimal walking gait at any speed in feasible range [13]. GPS (Global Positioning System) should be considered in the path planning and vision is the most effective sensing form. In addition to steering the robot, it can also play a key role in achieving robots intelligence and its interaction with outside world [14]. V. CONCLUSION This paper has proposed the path planning and typical gait planning algorithm, and conducted an in-depth analysis and evaluation. Inadequate for a variety of algorithms, we propose the use of hybrid algorithms, GPS and advanced sensors to improve the stability and capacity of the humanoid robot. In spite of the intensive development and experimental verification of various humanoid robots, it is important to further improve their capabilities using advanced hardware and arithmetic to make humanoid robots more autonomous, intelligent and adaptable to the environment and humans. ACKNOWLEDGMENTS This work was supported by Leading Academic Discipline Project of Shanghai Municipal Education Commission, Project Number: J51301.
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