Title :
ZMP-Based Biped Running Control
Author :
KAJITA, Shuuji ; Nagasaki, Takashi ; KANEKO, Kenji ; Hirukawa, Hirohisa
fDate :
6/1/2007 12:00:00 AM
Abstract :
In this article, a running humanoid robot, HRP-2LR, was presented along with its running pattern generation, its controller, and the experimental result. Applying the proposed controller, HRP-2LR could successfully run with average speed of 0.16 m/s, repeating flight phases of 0.06 s and support phases of 0.3 s. Future work consists of the realization of faster running and online running pattern generation.
Keywords :
humanoid robots; legged locomotion; HRP-2LR; ZMP biped running control; humanoid robot; online running; pattern generation; zero moment point walk; Hardware; Humanoid robots; Hydraulic actuators; Leg; Legged locomotion; Robot control; Robot sensing systems; Robotics and automation; Servomechanisms; Springs;
Journal_Title :
Robotics & Automation Magazine, IEEE
DOI :
10.1109/MRA.2007.380655
