Dynamically Stable Gait Planning for Humanoid Robots

by Dr. Changjiu Zhou, Advanced Robotics and Intelligent Control Centre (ARICC), Singapore Polytechnic

 :  01 Feb 2005 (Tue)
 :  10:30am - 12:00noon
Venue  :  Rm. 3301, 3/F (Lift 17-18), HKUST

Recently, significant progress has been made in the design and control of humanoid robots, particularly in the new international initiative of the RoboCup Humanoid League that aims to foster robotics, AI and many other emerging technologies using humanoid soccer games. The humanoid robotic soccer is much more challenging than any existing wheeled or multi-legged robots because the dynamic stability of humanoid robots needs to be well aintained while walking, running and kicking. This talk will give an overview of the recent development of humanoid robotics as well as some insights gained from our experience at RoboCup Humanoid League. The humanoid gait planning can be formulated as an optimization problem with consideration of several constraints, e.g. zero-moment point (ZMP) constraint for dynamically stable locomotion, internal forces constraint for smooth transition, geometric constraint for walking on an uneven floor etc. In the frame of gait synthesis tied with constraint functions, computational learning methods can be incorporated to further improve humanoid locomotion. The effectiveness of the proposed dynamically stable gait planning and learning approach for humanoid robots has been successfully tested on our humanoid soccer robots named Robo-Erectus, which is one of the foremost leading team in the humanoid league. We will also demonstrate that it is possible for a humanoid robot to start its walking with the perception-based information and then refine its gait through further reinforcement learning. Finally, some major technical challenges and basic research issues in humanoids will be also addressed.

Dr. Changjiu Zhou received his B. Eng. and M. Eng. degrees in electrical engineering from Jilin University of Technology (now Jilin University), China, in 1985 and 1988 respectively, and Ph.D. in control engineering from Dalian Maritime University in 1997. He has been teaching in the School of Electrical and Electronic Engineering of Singapore Polytechnic since 1996 and is currently heading the Advanced Robotics and Intelligent Control Centre (ARICC). Before joining Singapore Polytechnic, he was an associate professor in the Department of Computer Science of Dalian Jiaotong University, China. From December 2003 to March 2004 he was a visiting professor in the Computational Learning and Motor Control Laboratory at University of Southern California. He was also a visiting professor in the Department of Artificial Intelligence at the Polytechnic University of Madrid in June 2001, December 2001 and September 2002. He has been serving as a guest professor at Dalian Maritime University since 2001.

Dr. Zhou is a member of the RoboCup Executive Committee, where he also serves as chair of the Technical Committee for Humanoid League. He is founder of humanoid robotics group Robo-Erectus ( which won first place in Humanoid Free Performance competition at RoboCup 2003 and second place in all four humanoid competitions at RoboCup 2004. He has been an associate editor of the International Journal of Humanoid Robotics (IJHR) since 2003 and also served as guest editor for five international journal special issues. His current research interests include intelligent robotic systems, computational intelligence, humanoid robotics, robotic soccer systems, machine learning, intelligent control, multi-sensor fusion and bio-inspired robotic systems. He has about 100 research publications including 2 edited-books published by Springer.


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