Real-time gait planning for Rh-1 humanoid robot, using Local Axis Gait algorithm

Author

Arbulu, Mario ; Balaguer, Carlos

Author_Institution

Dept. of Syst. & Autom. Eng., Univ. Carlos III of Madrid, Leganes

fYear

2007

fDate

Nov. 29 2007-Dec. 1 2007

Firstpage

563

Lastpage

568

Abstract

It is proposed the local axis gait algorithm in order to generate real-time gait patterns for a humanoid robot. The 3D foot motion planning for the humanoid global motion is developed in order to walk in any surface as plane, ramp, climbing stairs. Furthermore, it is possible continuous change the step length and orientation in real time. The cart-table model is used for planning COG and ZMP motion. The proposed algorithm takes into account physical robot constraints as joint angles, angular velocity and torques. Torques are computed by Lagrange method under Lie groups. Some results are shown and discussed.

Keywords

Lie groups; angular velocity control; humanoid robots; mobile robots; path planning; position control; 3D foot motion planning; COG motion; Lagrange method; Lie groups; Rh-1 humanoid robot; ZMP motion; angular velocity; local axis gait algorithm; real-time gait planning; Angular velocity; Biological system modeling; Foot; Humanoid robots; Lagrangian functions; Legged locomotion; Motion planning; Real time systems; Robotics and automation; Torque;

fLanguage

English

Publisher

ieee

Conference_Titel

Humanoid Robots, 2007 7th IEEE-RAS International Conference on

Conference_Location

Pittsburgh, PA

Print_ISBN

978-1-4244-1861-9

Electronic_ISBN

978-1-4244-1862-6

Type

conf

DOI

10.1109/ICHR.2007.4813927

Filename

4813927