Locomotion planning on uneven terrain

Locomotion planning on stairs

Without ZMP controller

The CoM dynamics are reflected to the Zero Moment Point (ZMP) through the interaction between the foot and floor. 

With ZMP Controller

The motion of the center-of-mass (CoM) can be stabilized indirectly through the ZMP control. 

Biped walking without terrain information

Research on a terrain-blind walking control that can walk stably on unknown and uneven terrain is an important research field for humanoid robots to achieve human-level walking abilities, and it is still a field that needs much improvement.

Foot placement control using model predictive control

The external disturbance is measured as a capture-point error, and a desired zero-moment point (ZMP) is determined to compensate for the capture-point error through a capture-point control method. To follow the desired ZMP, the optimal ZMP and the position of the foot to be changed are determined through model predictive control (MPC). In the MPC, quadratic programming is implemented considering a cost function that minimizes the ZMP error, the constraints that the ZMP maintains within the support polygon, and the constraints on the varying foot positions.

Biped walking control experiment on uneven and rubble terrain

Outdoor walking

Biped Walking Robot, FX-II 

Various robots participated in the relay relay at the 2017 Pyeongchang Winter Olympics. Among them, 'FX-II', a human-riding biped robot, got attention [1]. The FX-II successfully carried out the torch relay while carrying a person, holding the torch in its arms, and walking on its legs. 

Biped Walking Robot, FX-II

The FX-II is an extension of the FX-I. Both arms and data arm for teleoperation were added, and the knee joint torque capacity of the lower body was increased in consideration of the increased weight of the robot.

Non-prehensile Manipulation

• High-speed Manipulation

• Visual Feedback

• Object Tracking

Non-prehensile Manipulation

• Orientation Control of End-effector