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
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;
Conference_Titel :
Robotics and Automation, 2007 IEEE International Conference on
Conference_Location :
Roma
Print_ISBN :
1-4244-0601-3
Electronic_ISBN :
1050-4729
DOI :
10.1109/ROBOT.2007.363644
