Title :
A running experiment of humanoid biped
Author :
Nagasaki, Takashi ; Kajita, Shuuji ; KANEKO, Kenji ; YOKOI, Kazuhito ; Tanie, Kazuo
Author_Institution :
Graduate Sch. of Syst. & Information Eng., Tsukuba Univ., Japan
fDate :
28 Sept.-2 Oct. 2004
Abstract :
Aiming for a humanoid robot of the next generation, we have been developing a biped which can jump and run. This paper introduces a method of running pattern generation and running experiment of biped robot HRP-2LR. Based on the physical parameters of HRP-2LR, running patterns are pre-calculated so that it follows the desired profiles of the total linear and angular momentum. For this purpose we used resolved momentum control. The vertical momentum is calculated considering the compliant elements in order to realize accurate flight duration. The horizontal momentum is calculated to satisfy the ZMP patterns given in advance. Using our pattern, HRP-2LR could successfully run with average speed of 0.16[m/s] with repeat flight phase 0.06 [s] and support phase 0.3 [s].
Keywords :
humanoid robots; legged locomotion; position control; horizontal momentum; humanoid biped robot; resolved momentum control; vertical momentum; Graphics; Hardware; Humanoid robots; Humans; Intelligent robots; Intelligent systems; Legged locomotion; Mobile robots; Springs; Systems engineering and theory;
Conference_Titel :
Intelligent Robots and Systems, 2004. (IROS 2004). Proceedings. 2004 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-8463-6
DOI :
10.1109/IROS.2004.1389342
