Title :
Whole body motion pattern generation for biped humanoid robots
Author :
Yamada, Koji ; Masuta, Hiroyuki ; Hun-Ok Lim
Author_Institution :
Grad. Sch. of Eng., Kanagawa Univ., Yokohama, Japan
Abstract :
This paper describes a method of whole body motion pattern generation for biped humanoid robots. The walking pattern is generated on the basis of preview control and compensatory motion control. It enables the robot to walk with arm swings. According to the waist motion, hand motion, and foot motion, the angles of the whole body are calculated by inverse kinematics. In order to verify the effectiveness of the pattern generation method, the simulation of the whole body motion is conducted by using Adams and MATLAB/Simulink.
Keywords :
humanoid robots; legged locomotion; motion control; predictive control; robot kinematics; Adams; MATLAB Simulink; biped humanoid robots; compensatory motion control; foot motion; hand motion; inverse kinematics; preview control; waist motion; whole body motion pattern generation; Conferences; Equations; Humanoid robots; Legged locomotion; Mathematical model; Trajectory; Biped walking; ZMP; compensatory motion; whole body motion;
Conference_Titel :
Ubiquitous Robots and Ambient Intelligence (URAI), 2012 9th International Conference on
Conference_Location :
Daejeon
Print_ISBN :
978-1-4673-3111-1
Electronic_ISBN :
978-1-4673-3110-4
DOI :
10.1109/URAI.2012.6462954
