Title :
Online immediate foot placement modification for humanoid robots by synthesis method
Author :
Cheng, Teng-Hu ; Huang, Han-Pang ; Yan, Jiu-Lou
Author_Institution :
Dept. of Mech. Eng., Nat. Taiwan Univ., Taipei, Taiwan
Abstract :
The mobility of humanoid robots are restrained by many natural constraints. Due to the unstable property of humanoid robots, they are usually controlled by a preplanning stable COG (center of gravity) trajectory subject to a properly designed ZMP (zero moment point) using inverted pendulum model. Despite the advantage of stability, the method becomes tricky to modify the preplanning footsteps randomly. Therefore, we propose the immediate modification of foot placement by synthesis, which ensures a low computational cost, smooth synthesized and stable trajectory. With our proposed method, the robot can modify the next footstep location or immediately stop immediately, even just before the end of previous step; otherwise, it might need two steps ahead to prepare for this change. The mobility of humanoid robot is therefore enhanced by our proposed method in both sagittal and lateral directions.
Keywords :
humanoid robots; legged locomotion; motion control; nonlinear systems; path planning; position control; stability; center of gravity; footstep location; humanoid robots; inverted pendulum model; natural constraints; online immediate foot placement; preplanning stable COG trajectory; synthesis method; unstable property; zero moment point; Boundary conditions; Foot; Humanoid robots; Legged locomotion; Mathematical model; Trajectory;
Conference_Titel :
Robotics and Biomimetics (ROBIO), 2010 IEEE International Conference on
Conference_Location :
Tianjin
Print_ISBN :
978-1-4244-9319-7
DOI :
10.1109/ROBIO.2010.5723329