Online walking pattern generation for biped humanoid robot with trunk

Author

Lim, Hun-ok ; Kaneshima, Yoshiharu ; Takanishi, Atsuo

Author_Institution

Dept. of Syst. Design Eng., Kanagawa Inst. of Technol., Japan

Volume

3

fYear

2002

fDate

2002

Firstpage

3111

Lastpage

3116

Abstract

This paper describes an online method generating walking patterns for biped humanoid robots having a trunk. Depending on the walking command, the motion patterns of the lower-limbs are created and connected to the prewalking patterns smoothly in online. For the stability of the biped robots, the trunk and the waist motion is generated by a walking stabilization control that is based on the ZMP trajectory and the motion of the lower-limbs. Experimental tests of versatile biped walking on a plane surface are conducted using an auditory interface, and the validity of the online pattern generation method is verified

Keywords

legged locomotion; stability; ZMP trajectory; auditory interface; biped humanoid robot; lower-limb motion patterns; online walking pattern generation; prewalking patterns; stability; waist motion; Arm; Design engineering; Humanoid robots; Leg; Legged locomotion; Motion control; Robot kinematics; Service robots; Systems engineering and theory; Torso;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on

Conference_Location

Washington, DC

Print_ISBN

0-7803-7272-7

Type

conf

DOI

10.1109/ROBOT.2002.1013705

Filename

1013705