IBGE TRANSACTIONS ON ROBOTICS AND AUTOMATION VOL. 6 NO 5. OCTOBER Y=) 597 Rerenences| 1) HG. Baro, JM. Tenestau, RC. Bs, and H.C. Wl Parmer ovepoedence nt chamir aching Te se eh tiguc or age aching, Ie Pro FUIH ft doit Conf Ar 2 Tet (Camb, MA, 197. gp. 639-053. 12} Borgo, Disance waar ebay sinenses.” Com Dus Vion Grapis Image Proven, so. pp DIS, IB} G Bowefrs, “Diseases in gil images." Comp Vision Graphis maze Procasing vol. 9p. 341-371. 198K, POn'Rep © SBOLEL: Nat Det. Res, Is Linking. Swede, ls) TE Boul "On the compleay of comuraine dace ansforns ut digi stance nap uses sto menos,” Teoh Rep Bere: Comp Sr, Columb Unie To, Is) BE, Demelson, “Eacean dts suping” Compu. Von Grapes nape Prosesing. ok. 8 p27 38. 198, 16) Bone and BW. Verbs, "The smd dance tata tion A pew Facean, recuse implemen of the lea atm, in TT. Young ea! (eds) Sign! Procening I: Theorie and Applications. "New York Eset. 186 171 Samana avn "Malt sh pa planing for fone robo" Proc’ BARD Image Underotndin Workshop (DARPA) Dec. 1988, pp. 21-432 (8) CY. Lex, "An lpr fer path onsectins an its apts. IRE Trans. Becton. Comp. pp. 365, Sep. 198 19) Us Momanan, "A metho for seining seins mg 2 qs ace dimance”J- ACM, so 1, pp 0-628, 168 io) Rownfld an). ne "Segal pra fe owing” JACKE wl cp #7118 1968 ny Rowen Snd Preise uneoaeomiglpctue. Baus Recop oki. 1p. 33, 198k lua] TSoeaaje Cae based epee fe space for he mig ‘hon of an aeons able robo” ia LO. Hensteger FCA Groen Es). Proc In. Ill Autonomous yet Cont ‘stern, Neda). De. 180.9. t6 Se ia) PW. Verick Ls Dost Bi. Verur and F.C. A, Gre, ‘Clon woiance thd ath fing tugh contin ence sramformaton root tase,” nL 0. otteger ad FC ‘A Green (Eke) Proc. In nel” Autonomous Sst Con. ‘haste, Netra. ec 986, pp. 2-48 ‘A Free Gait for Generalized Motion A PAL Axo K.JAYARAIAN Absract—A method has been presented for the generat toclly optimal fee gat for PD generated motion of at rathingtnchine. I emphvs a heurtc graph search procedre based {Gm the A* algorithm. The method esemally looks Into the one ‘uencs of a move oa certain depth before atully commiting 10H ‘The contol ofa walking machine requires making decisions 4 ‘which leg tif and when, and also when o place a leg and where, 50 thatthe machine may continue to move stably and efficiently along its prescribed route. The periodic soltons 10 the problem UI-B3 fora saighine motion ofthe machine prove ineffeetive for Manas eine July 27,1988: revised May 90,190 PK Pal wih he Computer Dintion Bhat Atomic Research ‘ewe, Bay, Ia TK ayajen i wth the Divison of Renate Handing and Rods, ‘raion Atome Research Cente, Bony Tna TEE Log Number 908488 Fg. Machine corns mystem (X,¥) at» nd at a tan % io wept ote gram cose Syston (Xge Yon te fot stn. generalized mesion on 2 era with regions tha ate not stepwor. thy, The problem of generation of a terain-adaptve aperiodic ra. Uhich is commonly refered to asa fee gait (8), wan firs formal. aed apd solved by Kugushev an Jaroshevsi [$} and subsequently improved upon by McGhoe and Iswandhi [5]. Their algorhn es ‘0 maintain sabilty and maximizes the minimum Kinematic margin ‘overall legs through the liting and placing of legs Thovgh bility conceive the absence of any lookahead este inthe ‘method may result in inefcency ofthe generated gait, or Worse, in eallocks, Hirose applied similar method for the peneration of free gat for a quadruped machine, adding certain guiding rales for the selection of @foahold [6] tht tends to generat eiciet gait while avoiding deadlock. These guiding rules, which ate specifi fo the quadraped machine, may aot be easily extended to the case of later legged machines nor do they assure optimality of the pene ted gait in ll circumstances. In addition, Hiose's machine, while following the prescribed route, mains constant oriettion ad resorts crab walking. ‘This, the existing methods for the generation of free gat lack in ‘vo respects—they have not been appliod tothe case of general Jed motion, and they donot employ general set of principles 0 techniques forthe generation of an optimal free pit. Even for a regula tern, eventhough there hs been an attempt t determine the foot mations required for & generalized motion though the intouction ofa ea angle (7), the underying eit i sued Be ‘one optimize for straight-line motion. In this paper, we presenta method forthe generation of lcaly ‘optimal free gait for a 2-D generalized motion of 4 qusiruped walking machine. 1 employs a heuristic graph search procidare based nthe A* algorithm {8}. The method essentially foks ito the consequences of a move to a certtin depth Before actly commiting to it. Deadlocks and ineficiences are ths sensed el in advance and avoided, Foor Mono ror a GenrRaLizeD Monon oF 42 Waurine MaCieNe Le (%o, Yo) sepesent the ground coordinate system with its covigin at “O (Fig. 1), and et CX), Y,) eepesent the machine ‘oordinat system with its rigin at C, which isthe centr of gravity 1042-296X,/901000-0597801.00 © 190 IEEE598 (CO) of the machine. F inieses fot positon. Then, at any frst, tbe machine a (x7) aan onenaton @ with spect tote ground corn oytem, te cordnats of te feck Fin the ‘we corinte sytems wil be rele a Fa] [ood sino x] Fa ml [Se ese 7 oo ally which may be writen as Fy=oAl*F 0 were oA isthe matin tht asf poston fom she machine Tote ground coowinat sytem, Fy the column matrix represeat tna fot potion nthe rondo system. abd Fy is that ‘nthe machine coordinate System gion (1) may be rewrites 3s Fe Ae cc) where 4% = (yA! "At ler instant, suppose the machine moves to a positon (a4 bx, 9 + 69) and that its orientation changes 10 6 +89. Then, te foot coordinates inthe displaced machine coordinate system may ‘be writen, following @). as, AMF ® where 2° is obtained from ,A® by substnting 8 + 68 for 0, or Bx for 4, and 4+ BY for 9. Using (1), 3) may be writen 8 Fn Aya, “The font mation required for diferetial motion ofthe machine is then ar, [:4%toa! =] () Equation (4) ves the foot motion required in the machine coordinate sytem to achieve generalized mation of the machine from (x, 7,0) to (2 + BY, ) +8358 4 88) in the proud coord rate system, The equation holds itespctive ofthe mumber of lps thei arrangement inthe machine. 1, Moc oF rte Mace “The walking machine has been modeled a shown in Fig. 2. The legs are numbered clockwise staring fom the ist quadeatof he machine coordinate system (X,Y). C is the CG ofthe machine land the origin of the machine coocdinat sytem. The small square tround C is representative ofthe body ofthe machine. The reach able areas of each of the legs are shown as dashed squares. All Aistances are measured in the unit of sie of these Squares. ROK IV. A Measure oF Ginteauizen Monon ‘We ed to have a measure of ion that i uniformly sensitive to both taslaton and ration of the machin. The sum of fot travels ofall he legs is one sich measure, but it depends on the pesos ofthe feet Thus, it would he appropriate to measure a frovon in terms ofthe magnitude of the required fot motion (ce (@) averaged over the ene reachable area of the machine. HOw” fever, to reduce computation, we determine the average of the magnitudes of foot mations thar would be necessary hid the fot bean atthe center of each af the reachable areas. We will refer 10 ‘motion measured in this way a6 the eave of the machine. The {generalized mation ofthe machine may 90m be seen as a Tine ‘motion nthe wal space, V, Starts AND Transinions “The input to our gait generator program will be the desired positions td orientations of the machine at closely spaced time Intervals, We will refer to she mations Between sucessive positions ig. 2. Model of the qundraped machine. The dase uares represen the actus ete he ge and orientations of the machine 8 motion Segments. Our reatment ‘ofthe problem willbe discret nthe sense that decisions regarding Ting or placing of legs will be taken only after completion of 3 motion segment and aot ding sch a mation. Hence. we will be Concerned aout the posible sites of the machine only at these pits of motion, 'N le state primarily deseribes whether the foot som the ground cori he ai. I tis onthe ground, the description also inclaes he ‘coordinates ofthe fot ins eachle aes. "A machine state described in trms of eg sates, whereas 2 walking state ncldes a description of the machine state as well 8 the postion and orientation ofthe machine inthe ground coordinate ‘stem. or the machine at a certs walking stat, let us consider the posible motions ofa given leg Ifa touching the grou. hemi fs sais the foot motion impli in (2-H may as well be ied provided that does aot make the machine Unstable. On the ether and, i nthe i, the t may comtinve a such or be placed on the ground atone of several pots within is reachable area, These choices determine the lep states, 10 which, transition fom the ‘current leg sate may be made. To limit the number of possible transitions in order to rede the number of nodes in the search tree, we introduce the following two ules governing the iting and lacing of eg: 1) A leg in ance isnot considered for iting ul the machine competes a prespecited length of travel during the stance. During this perio the foot has choice oer than to Follow the motion prestribed by (), Afler it becomes eligible fr iting, it has the hoe of continuing 1 remaia oa the ground or to belie! fora transfer. At this stage, ifthe legis tl on grou and moves out of its reachable ate, then, of cours i hs be ie. "2 A leg in the air’ must continue as sch until the machine completes a prespecified length of travel since the leg was hited oF the ground, After ths, he leg has the choice of continuing ia the air ‘or king contact with the ground a oe of the points deeded by 3 foothold selection algorith. ’N machine state will in general have a number of connecting state sch hata transition wo any of hese stats i stable and fects the next motion scymeat. A machine state transition i brought teout by a compatible st of lep state transtens. Compa of the fot motions is ensured by the use of 4). Hence, the le Sate transioos must be soch that the machine emains table duning the The support putrn for a machine sta isthe convex ull of he point et ina horizontal plane, hich contains the vertical projSy we amb fotos when Be mtanness Fe 3 5, “Testor of fort 8 3 ion of the fet ofall supporting eps [SI Hf the support pattern Incas the vertical projection ofthe CG othe machine, then is atolute sabilty margin is the minimum distance. between the ‘etcal projection of the CG and the boundary of the support pattern. A machine ste is statically stable ony if the absolute ‘Rabi margin of us suppor pater exceeds a cenain prespecified aloe. ’ transition frm machine state 0 7 wil be sable if and in are separately sable, Here the suppor pater of is formed by etluding any fe that isin he air in and the supper patern of my is formed by excluding tay lg that sn hea nm VI. Setzction oF Cassinate Fooria.ns ‘The placement of a foot determines its kinematic margin, i. he leave the muchne can have along its prescribed rote Before the foot moves out ofits reachable area, I also aft the stabiy of| the machiae in a way that is dificult to determine in advance Hence, we allow a fot to be paced at oe of four preselected points within the reachable area, These points are so chosen that among themselves, they ty 10 satisfy varying stability requirements while assuring a feasoably high kinematic margin Fig. 3 shows the candidate fooholis. 5, isthe comer of the reachable fea and 3S one af the candidate foothold. The ine seqinentS,P repesens the diction of fot motion atthe time of ‘omit ha the fon hen paced at, SP is extended backwards to meet the boundary ofthe reachable aca aS, which is another ‘anda foothold. The ther two foothold are) abd, sb they lie on the perpendicular bisector of the line sgn 58> at & distance of 0.35 on ether side. The distance 0.38 (ue. 2 a) has ben selected so that dese points be within the reachable aes for any direction of foot motion. IF the instantaneous center of rotation Of the machine is close 10 she emer of the reachable ara, the footolds are selected a a circle around the center If the train has regions thal arent stepworty, then the candidat fothais (5; => 54) have to he checked for suitably. any of them is found wo be unstable, a predefined aray of pots around it are checked for suitably. and the nearest suitable pin if any. is passed asthe candae foothold. Ino subsite i found, that particular footold is dropped fom the set of candidate foots, VIL TH Non oF Prooness Ina graph search itis necessary to measure the progress made by the machine towards is goal at any poit in the coure of is raion. The measure shoul he sensitive to both the ave and the state of the machine, thereby accounting forthe motion that 8 realized as well as the potemial for onward metion 599 Walking involves wo distintprocesses—the support phase, dur- ing which a ey pushes tbe body forward, andthe wanser phase, through which a lep resores is Kinematic margin. These wo processes mist go hand in hand Torte machine wo advance. Hence, for a srightine motion ofthe machine, we define progress 3b ‘the mean ofthe istane covered by its CO and the average distance covered by its legs from the beginning of motion or any reference walking stat. Following this dentin, the progress fom 3 Saring States tothe currem sate may be shown tobe ¢ + (Ky ~ K.)/2, Where ¢ isthe disce covered bythe CG of the mache. and K, and K, are the average Kinomatc margins ofthe legs in Sates and, respectively nthe cise of generalized motion, we cary forward the same expression for progress with slight reinterpretation of the fist term. is now the travel ofthe machine, where Ky and K, ate ow the actual kinematic margins. VII Tue Gaars Seanen Stnarvoy ‘We have broken up the entire motion ofthe walking machine ino small motion segmems. Aller completion of every mation segment ‘he machine is vena choice of lifting o placing some ofits eg a ‘he form of connecting tates, However tere in judicious ay (0 ‘choose from these states. Whats required sw cont strotre that Wil allow us wo probe deeply ino the future before deciding on Which of the conbecting states should actually be taken up for 2 transition, A graph serch [8] provides method for doing tis "A graph const of @ set of mes connected 10 each eter through 8 set of arcs, The raves in this case will correspond 1 he walking tts ofthe machine, andthe acs wil represent ranstions Deweon such states. The graph search procedure, whichis based on the A* algorithm [8] for generating an optimal route 10 the Boal, Stas with the inal walking state asthe sole node ofthe graph. This node IS expanded 10 form is ofspring andes, which are essentially its connecting stats. These are included in ist of open (ies unexplored) nodes, The open nodes are evaluated for thei promise or worthiness be included inthe solution, apd the most Promising open node is removed fom the open fis an! expanded ‘This process continues, abd the graph grows unl the goa! node is seachod The evaluation of the promise of nae proceeds on heuristic line. For example, in the gat generation problem, we try 10 minimize the number of transfers ofthe lees to reach the go. Hence, «node looks mast promising ifthe path passing through tha node seems 10 require the least numberof wansers. The estimated ot of reaching the goal through the node m may be given by Fen) = g(a) + Bn, where 847) i the aumber of transfers from the start node s 10 the nase m and i directly avaiable from the eneated graph, whereas Aim) is «heuristic estimate ofthe number ‘of transfers necessary to reach the goal from node m. 18 reason: abe to assume that Aim) should be approximately proportional to the progress to be made to reach the goal fom node m. The proportionality constant is chosen to correspond tothe quadeuped ‘wave gait wih zero stably margin. When hn) is thus Undeest- rated, optimality ofthe solution is assured [8]. “To redce the search efor, we limi the seach re t a certain "ry andy are the Reema aris ofthe ihe at he iia walking Sate al cent sate neste. the stance covered Be ‘hie trom snes 10 wl beet (ky yp where et he Sane vere bythe CG of the machine daring his pero. The average Sanee Covered ty aegis hen er (Ky Kyl where Ky (hy /8 8 Oe ‘Storpetinemat map of the rhe wate an tikewise fr K, The Secs of the machoe ten evioues © fo = (e+ Ky Kyaienet (Ky KE