A whole-body motion planner for humanoid robots using EZMP preview control and resolved momentum control

被引：0
|
作者：
Zhou X. [1 ]
Sun G. [2 ]
Liu X. [1 ]
Huang D. [1 ]
Jiang X. [1 ]
Zhu F. [1 ]
机构：
[1] Guangdong Institute of Intelligent Manufacturing, Guangdong Academy of Sciences, Guangzhou
[2] Robotics Research Centre, Nanyang Technological University, Singapore
来源：
Sun, Guangbin | 2016年 / Xi'an Jiaotong University卷 / 50期
关键词：
Angular momentum; Extended zero moment point; Humanoid robot; Whole-body motion planning;
D O I：
10.7652/xjtuxb201612010
中图分类号：
学科分类号：
摘要：
A whole-body motion planning method for humanoid robots is proposed to tackle motion planning errors caused by simplified dynamic model. The method combines the EZMP (extended zero moment point) control and the resolved momentum control to realize high efficiency motion planning with multiple constraints. A close form of the nonlinear EZMP equation in 3D space is presented to facilitate the stable motion pattern generation of humanoid robots. The angular momentum neglected in most previous literatures is also taken into account. Furthermore, some constraints such as EZMP, limb motion and angular momentum can be added. Simulation results show that the proposed method reduces the average EZMP error to around ⅖ of that using preview control alone and is able to realize motion planning with complex constraints. Therefore, the method provides a compact-formed, flexible and efficient motion planning solution for humanoid robots. © 2016, Editorial Office of Journal of Xi'an Jiaotong University. All right reserved.
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页码：58 / 63
页数：5
相关论文
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