Achievable Balancing Motions

for a Humanoid Robot

Pedro X. Miranda La Hera

xavier.lahera@tfe.umu.se

Department of Applied Physics and Electronics

Umeå University, Sweden

Joint work with: Leonid Freidovich, Anton Shiriaev, Uwe Mettin,

Anders Sandberg

Pedro La Hera. July 4, 2007. – p. 1/19

Representation for a Target Motion:

0
Assume that a T -periodic
−1
motion exists
 T
q ⋆(t) = q1⋆(t), q2⋆(t), . . . , qn
⋆
(t)
−2

1 2
1
0
0
−1
−1
−2 −2

Pedro La Hera. July 4, 2007. – p. 2/19

Representation for a Target Motion:

0
Assume that a T -periodic
−1
motion exists
 T
q ⋆(t) = q1⋆(t), q2⋆(t), . . . , qn
⋆
(t)
−2

1 2
1
0
0
−1
−1
−2 −2

Then one can always find a way to re-parameterize the motion

• In the phase space the motion is the path

Pedro La Hera. July 4, 2007. – p. 2/19

Representation for a Target Motion:

0
Assume that a T -periodic
−1
motion exists
 T
q ⋆(t) = q1⋆(t), q2⋆(t), . . . , qn
⋆
(t)
−2

1 2
1
0
0
−1
−1
−2 −2

Then one can always find a way to re-parameterize the motion

• In the phase space the motion is the path
• Denote by θ ⋆(t) the distance along the path ⇒ t = t(θ ⋆)

Pedro La Hera. July 4, 2007. – p. 2/19

Representation for a Target Motion:

0
Assume that a T -periodic
−1
motion exists
 T
q ⋆(t) = q1⋆(t), q2⋆(t), . . . , qn
⋆
(t)
−2

1 2
1
0
0
−1
−1
−2 −2

Then one can always find a way to re-parameterize the motion

• In the phase space the motion is the path
• Denote by θ ⋆(t) the distance along the path ⇒ t = t(θ ⋆)
• The motion is parameterized by this new variable θ ⋆

q1⋆ = q1⋆(t(θ ⋆)) = φ1 (θ ⋆), ..., ⋆

qn ⋆
= qn (t(θ ⋆)) = φn(θ ⋆)

Pedro La Hera. July 4, 2007. – p. 2/19

Representation for a Target Motion (Cont’d):

Given a T -periodic motion

1

 T
q ⋆(t) = q1⋆(t), q2⋆(t), . . . , qn
⋆
0

(t)
−1

−2
There are n-functions
2

1 2
1

φ1 (·), φ2 (·), . . . , φn(·)

0
0
−1
−1
−2 −2

Pedro La Hera. July 4, 2007. – p. 3/19

Representation for a Target Motion (Cont’d):
Given a T -periodic motion
1

 T
q ⋆(t) = q1⋆(t), q2⋆(t), . . . , qn
⋆
0

(t)
−1

−2

2
There are n-functions
1 2
1
0
0
−1

−2 −2
−1
φ1 (·), φ2 (·), . . . , φn(·)
The periodic motion lives on 2-dimensional manifold [θ, θ̇]
defined by the relations

q1 = φ1 (θ), q2 = φ2 (θ), . . . , qn = φn(θ)

Pedro La Hera. July 4, 2007. – p. 3/19

Representation for a Target Motion (Cont’d):
Given a T -periodic motion
1

 T
q ⋆(t) = q1⋆(t), q2⋆(t), . . . , qn
⋆
0

(t)
−1

−2

2
There are n-functions
1 2
1
0
0
−1

−2 −2
−1
φ1 (·), φ2 (·), . . . , φn(·)
The periodic motion lives on 2-dimensional manifold [θ, θ̇]
defined by the relations

q1 = φ1 (θ), q2 = φ2 (θ), . . . , qn = φn(θ)

Motion planning for a mechanical system can be formulated as

finding appropriate virtual holonomic constraints

Pedro La Hera. July 4, 2007. – p. 3/19

Properties of a Virtually Constrained System
Given an under-actuated Euler-Lagrange system
d ∂L ∂L
 
− = B(q)u
dt ∂ q̇ ∂q
with
dim q − dim u = 1,

Pedro La Hera. July 4, 2007. – p. 4/19

Properties of a Virtually Constrained System
Given an under-actuated Euler-Lagrange system
d ∂L ∂L
 
− = B(q)u
dt ∂ q̇ ∂q
with
dim q − dim u = 1,
consider the following geometrical identities
q1 = φ1 (θ), q2 = φ2 (θ), ..., qn = φn(θ)
relating qi and the new independent variable θ .

Pedro La Hera. July 4, 2007. – p. 4/19

Properties of a Virtually Constrained System
Given an under-actuated Euler-Lagrange system
d ∂L ∂L
 
− = B(q)u
dt ∂ q̇ ∂q
with
dim q − dim u = 1,
consider the following geometrical identities
q1 = φ1 (θ), q2 = φ2 (θ), ..., qn = φn(θ)
relating qi and the new independent variable θ .

If there exists u∗ for the E-L system that makes these relations
invariant along solutions of the closed-loop system

Pedro La Hera. July 4, 2007. – p. 4/19

Properties of a Virtually Constrained System (Cont’d):
Then θ is a solution of the reduced dynamical system

α(θ)θ̈ + β(θ)θ̇ 2 + γ(θ) = 0,

with initial conditions [x, y] and α(θ) 6= 0. Moreover, the

quantity
Z θ
2γ(s)
 
2 2
I(θ, θ̇, x, y) = θ̇ − ψ(x, θ) y − ψ(s, x) ds
x α(s)
with Z θ1
β(τ )
 
ψ(x, θ1 ) = exp −2 dτ
x α(τ )

preserves its zero-value along this solution, i.e.

 
I θ(t), θ̇(t), x, y ≡ 0

Pedro La Hera. July 4, 2007. – p. 5/19

How to find constraints?

Virtual Holonomic constraints can be extracted from recorded

human motions data.
Person Running Sitting Down - Standing Up

Pedro La Hera. July 4, 2007. – p. 7/19

Analysis of recorded human kinematic data
• Many Human motions are periodic or part of periodic
trajectories. They can be recorded and analyzed.
• Virtual Holonomic Constraints are defined by the relations
among the generalized coordinates.

Pedro La Hera. July 4, 2007. – p. 8/19

Analytical Motion Planning for Humanoid robots
• Finding appropriate virtual holonomic constraints is a way to
plan motions for humanoid robots where the target
trajectory is periodic and one of the points - e.g. the ankle
joint - is unactuated or weakly actuated.
• Is there an alternative to extracting constraints from
recorded human kinematic data?

Pedro La Hera. July 4, 2007. – p. 9/19

Analytical Motion Planning for Humanoid robots
• Finding appropriate virtual holonomic constraints is a way to
plan motions for humanoid robots where the target
trajectory is periodic and one of the points - e.g. the ankle
joint - is unactuated or weakly actuated.
• Is there an alternative to extracting constraints from
recorded human kinematic data?
• Can we start with a sufficiently rich parametrized family of
constraint functions and search for the parameters to
allow motions with certain desired specifications?
• YES! It can be done. So, we extend the motion planning
method based on virtual holonomic constraints providing a
procedure for analytical analysis of achievable motions for
humanoid robots in terms of amplitudes and periods.

Pedro La Hera. July 4, 2007. – p. 9/19

Problem Formulation
Given any parametrized family of constraints

q1 = φ1 (p, θ), q2 = φ2 (p, θ), ..., qn = θ

where p represents the parameters of the constraints to be
chosen.

Problem: How do we choose parameters p to achieve a

periodic trajectory with a given period T and a given
amplitude A for θ(t)?

Pedro La Hera. July 4, 2007. – p. 10/19

Problem Formulation
Given any parametrized family of constraints

q1 = φ1 (p, θ), q2 = φ2 (p, θ), ..., qn = θ

where p represents the parameters of the constraints to be
chosen.

Problem: How do we choose parameters p to achieve a

periodic trajectory with a given period T and a given
amplitude A for θ(t)?
We only need to shape the two-dimensional manifold defined by
the solutions of

α(p, θ)θ̈ + β(p, θ)θ̇ 2 + γ(p, θ) = 0.

It turns out that it is sufficient to solve a system of analytically

defined relations.
Pedro La Hera. July 4, 2007. – p. 10/19
Main result
1. There is an equilibrium point given by γ(p, θ0 ) = 0
∂γ
2. The equilibrium is a center: (p, θ0 )/α(p, θ0 ) > 0
∂θ
3. AR < ÂR = min{z > θ0 : γ(p, z) = 0 | α(p, z) = 0} − θ0
Z AR +θ0
dτ
4. T = 2 p ,
θ0 −AL |I(p, θ0 − AL, 0, τ, 0)|
where I(p, θ0 − AL, 0, τ, 0) = 0 and
AL < ÂL = θ0 − max{z < θ0 : γ(p, z) = 0 | α(p, z) = 0}
=⇒
(1) There is a periodic solution for the reduced dynamics with
right amplitude AR and period T encircling the equilibrium.
(2) The particular constraint can be used to stabilize the
corresponding limit cycle for the nonlinear system.
Pedro La Hera. July 4, 2007. – p. 11/19
Main result (comments)

α(p, θ)θ̈ + β(p, θ)θ̇ 2 + γ(p, θ) = 0

Pedro La Hera. July 4, 2007. – p. 12/19

Three Link Pendulum with two actuators
As an illustrative example of how to analylize these relations we
consider a three-link planar robot shown in the pictures below:

Pedro La Hera. July 4, 2007. – p. 13/19

Three Link Pendulum with two actuators
With this intention and as an example we consider the next pair
of linear constraints:

qa1 = a1 (qp − π/2) + b1 (1)

qa2 = 0.2 (2)

In this equation qp is a solution of the following equation which

describes the projected dynamics

α(p, qp)q̈p + β(p, qp)q̇p2 + γ(p, qp) = 0

where α(·), β(·) and γ(·) are scalar functions and

p = (a1 , b1 ).

Pedro La Hera. July 4, 2007. – p. 14/19

Three Link Pendulum with two actuators

• By analyzing the equilibria of qp around π/2, which is a

solution of γ(p, π/2) = 0, we obtain that:

k12 sin(0.2)
 
b1 = − arctan + π = 3.0934
k11 + k12 cos(0.2)

∂γ
(p,π/2)
• The equilibrium is a center if ∂θ
> 0, by this
α(p,π/2)
expression we can compute that

7091.37 − 1213.76a1
> 0, 5.84248 < a1 < 19.2878
62829.7 − 3257.49a1

Pedro La Hera. July 4, 2007. – p. 15/19

Three Link Pendulum with two actuators

• If we choose a1 to be 8,

ÂR = ÂL ≈ 0.1393

• If we choose the desired amplitude to be AR = A = 0.1,
the correspondent period can be calculated as

A+π/2
√ Z
dτ
T = 2 p ≈ 2.2777
|I(p, π/2 − A, 0, τ, 0)|
π/2−A

Pedro La Hera. July 4, 2007. – p. 16/19

Three Link Pendulum with two actuators
In the figure below we show several closed orbits for the
projected system dynamics

Pedro La Hera. July 4, 2007. – p. 17/19

Three Link Pendulum with two actuators
Simulation results using in closed loop:

Pedro La Hera. July 4, 2007. – p. 18/19

Stabilization via feedback action
An illustrative example of successfully implemented shaping oscillations
planned using virtual holonomic constraints via feedback control.

Furuta Pendulum

Pedro La Hera. July 4, 2007. – p. 6/19

Summary

• If there exist a periodic motion of the system under some

control action, there must be a corresponding invariant
virtual holonomic constraint.

• The problem of choosing constraints from a given class

allowing to comply with specifications of amplitude and
period has been reduced to the problem of checking
solvability of certain system of analytical nonlinear
relations.

• Complexity of calculations has been illustrated on an

example of motion planning for a three link pendulum with
two actuators.

• As soon as constraint is fixed it can be used to stabilize the

desired periodic motion.

Pedro La Hera. July 4, 2007. – p. 19/19