Implementation of HOAP-2 Humanoid Walking Motion in OpenHRP Simulation

This paper describes the implementation of walking motion of HOAP-2 Humanoid in OpenHRP simulation. Weput forward the existing knowledge on humanoid walking in aconcise and straightforward manner and integrate it to make the humanoid walk. We make use of the concept of Zero Moment Point (ZMP) for stability analysis and Cart Table Model to determine the relation between Zero Moment Point and Centre of Mass for generating a walking motion pattern. The walking motion pattern is generated in Matlab which is then fed to OpenHRP simulation to test stable walking of the humanoid. The paper also discusses some stabilization algorithms which have been implemented on the humanoid in order to account for variations like surface unevenness and backlash which are encountered by the humanoid during walking in the real world.