Title :
Online walking pattern generation for biped walking
Author :
Lim, Hun-ok ; Yoshida, Tetsuya
Author_Institution :
Dept. of Mech. Eng., Kanagawa Univ., Yokohama, Japan
Abstract :
This paper describes an online walking pattern generation method for biped humanoid robots which is based on a preview control method. Depending on the walking parameters, a 3-step pattern and reference ZMP are generated, and one step in the pattern is selected for walking. If another 3-step pattern is created, it will connect with the previous step using linear interpolation. This pattern generation method is able to deal with forward, sideward and forward-sideward mixed walking. In order to confirm the pattern generation method, various walking simulations are conducted using MATLAB/Simulink and ADAMS.
Keywords :
humanoid robots; interpolation; legged locomotion; motion control; 3-step pattern; ADAMS; MATLAB; Simulink; biped humanoid robots; biped walking; linear interpolation; online walking pattern generation method; preview control method; reference ZMP; walking parameters; walking simulations; Foot; Hip; Humanoid robots; Leg; Legged locomotion; Motion control; Biped walking; ZMP; compensatory motion; interpolation; online walking pattern;
Conference_Titel :
Control Automation and Systems (ICCAS), 2010 International Conference on
Conference_Location :
Gyeonggi-do
Print_ISBN :
978-1-4244-7453-0
Electronic_ISBN :
978-89-93215-02-1
