DocumentCode :
3563932
Title :
ZMP based walking pattern generation of child-sized humanoid robot : CHARLES(Cognitive Humanoid Autonomous Robot with Learning and Evolutionary System)
Author :
Ki-Nam Lee ; Young-Jae Ryoo
Author_Institution :
Dept. of Control Eng. & Robot., Mokpo Nat. Univ., Mokpo, South Korea
fYear :
2014
Firstpage :
427
Lastpage :
430
Abstract :
In this paper, an walking pattern tuning system based on ZMP(Zero Moment Point) for a humanoid robot is proposed. Commonly, it is inevitable to handle the stage with proficient programming skill for realization of humanoid walking. The proposed walking pattern tuning system is a program tool to finely tune the walking pattern based on ZMP by adjusting intuitive parameters that ordinary user can understand easily. The walking pattern tuning system was applied to the humanoid robot of 110cm tall and the humanoid robot with the tuned walking pattern was tested.
Keywords :
humanoid robots; legged locomotion; CHARLES; Cognitive Humanoid Autonomous Robot with Learning and Evolutionary System; ZMP; child-sized humanoid robot; size 110 cm; walking pattern generation; walking pattern tuning system; zero moment point; Educational institutions; Humanoid robots; Legged locomotion; Robot kinematics; Trajectory; Tuning; CHARLES; ZMP; humanoid robot; walking trajectory;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Soft Computing and Intelligent Systems (SCIS), 2014 Joint 7th International Conference on and Advanced Intelligent Systems (ISIS), 15th International Symposium on
Type :
conf
DOI :
10.1109/SCIS-ISIS.2014.7044888
Filename :
7044888
Link To Document :
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