Title :
A Biped Pattern Generation Allowing Immediate Modification of Foot Placement in Real-time
Author :
Morisawa, Mitsuharu ; Harada, Kensuke ; Kajita, Shuuji ; KANEKO, Kenji ; Kanehiro, Fumio ; Fujiwara, Kiyoshi ; Nakaoka, Shinichiro ; Hirukawa, Hirohisa
Author_Institution :
National Inst. of Adv. Ind. Sci. & Technol., Tsukuba
Abstract :
This paper proposes a method of a real-time gait planning for biped robots which can change stride immediately at every step. Based on an analytical solution of an inverted pendulum model, the trajectories of COG (center of gravity) and ZMP (zero-moment point) are parameterized by polynomials. Since their coefficients can be efficiently computed with given boundary conditions, this framework can provide a real-time walking pattern generator for biped robots. To handle the unexpected result caused by immediate changes of foot placement, we made single support periods as an additional trajectory parameter. The effectiveness of our method is shown by simulations of the humanoid robot HRP-2
Keywords :
humanoid robots; legged locomotion; nonlinear control systems; path planning; poles and zeros; polynomials; robot dynamics; HRP-2 humanoid robot; biped pattern generation; biped robots; center of gravity trajectories; foot placement modification; inverted pendulum model; polynomials; real-time gait planning; walking pattern generator; zero-moment point; Boundary conditions; Foot; Gravity; Humanoid robots; Humans; Legged locomotion; Polynomials; Service robots; Technology planning; Trajectory;
Conference_Titel :
Humanoid Robots, 2006 6th IEEE-RAS International Conference on
Conference_Location :
Genova
Print_ISBN :
1-4244-0200-X
Electronic_ISBN :
1-4244-0200-X
DOI :
10.1109/ICHR.2006.321332
