DocumentCode
2625462
Title
A Pattern Generator of Humanoid Robots Walking on a Rough Terrain
Author
Hirukawa, Hirohisa ; Hattori, Shizuko ; KAJITA, Shuuji ; Harada, Kensuke ; KANEKO, Kenji ; Kanehiro, Fumio ; Morisawa, Mitsuharu ; Nakaoka, Shinichiro
Author_Institution
Intelligent Syst. Inst., Nat. Inst. of Adv. Ind. Sci. & Technol., Tsukuba
fYear
2007
fDate
10-14 April 2007
Firstpage
2181
Lastpage
2187
Abstract
This paper presents a motion pattern generator of humanoid robots that walks on a flat plane, steps and a rough terrain. It is guaranteed rigorously that the desired contact between a humanoid robot and terrain should be maintained by keeping the contact wrench sum between them inside the contact wrench cone under the sufficient friction assumption. A walking pattern is generated by solving the contact wrench equations and by applying the resolved momentum control.
Keywords
humanoid robots; legged locomotion; momentum; motion control; stability; contact wrench equations; humanoid walking robots; momentum control; motion pattern generator; rough terrain; sufficient friction assumption; Angular velocity; Equations; Foot; Friction; Humanoid robots; Legged locomotion; Matrix converters; Robot kinematics; Robotics and automation; Stability criteria;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2007 IEEE International Conference on
Conference_Location
Roma
ISSN
1050-4729
Print_ISBN
1-4244-0601-3
Electronic_ISBN
1050-4729
Type
conf
DOI
10.1109/ROBOT.2007.363644
Filename
4209408
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