Title :
Simultaneous planning of CoM and ZMP based on the preview control method for online walking control
Author :
Nishiwaki, Koichi ; Kagami, Satoshi
Abstract :
The present paper describes a newly proposed method of planning the CoM trajectory that realizes the desired ZMP. We introduce the permissible ZMP region as well as the desired ZMP trajectory. When the robot suffers from disturbances, the ZMP trajectory desired in the future is adjusted and the future permissible region is used evenly in order to suppress the change of the ZMP at the moment of disturbance. The proposed method is based on the CoM trajectory generation method that uses preview control theory. Simulation results reveal the feasibility of the proposed method. The proposed method is then implemented as a part of walking control system of HRP-2, which generates a walking pattern that starts from the estimated actual robot motion at 40 [Hz]. Walking experiments on unknown terrain are conducted in order to demonstrate the performance of the proposed method.
Keywords :
humanoid robots; mobile robots; motion estimation; path planning; trajectory control; CoM trajectory generation method; CoM trajectory planning; HRP-2 walking control system; ZMP trajectory planning; center of mass; online walking control; preview control method; robot motion estimation; simultaneous planning; walking pattern generation; Control theory; Legged locomotion; Mathematical model; Robot kinematics; Robot sensing systems; Trajectory;
Conference_Titel :
Humanoid Robots (Humanoids), 2011 11th IEEE-RAS International Conference on
Conference_Location :
Bled
Print_ISBN :
978-1-61284-866-2
Electronic_ISBN :
2164-0572
DOI :
10.1109/Humanoids.2011.6100831