Real Time Motion Generation and Control for Biped Robot-1st Report: Walking Gait Pattern Generation

被引：218
|
作者：
Takenaka, Tom [1 ]
Matsumoto, Takashi [1 ]
Yoshiike, Takahide [1 ]
机构：
[1] Honda Res & Dev, Fundamental Res Ctr, Wako, Saitama, Japan
来源：
2009 IEEE-RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS | 2009年
关键词：
ROBOT;
D O I：
10.1109/IROS.2009.5354662
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
Generating stable dynamic motions for a biped robot in real time is difficult due to the unstable nature of biped systems and their high degrees of freedom. We propose an approximate dynamics model for biped robots with three masses and no kinematic constraints. We also propose a relaxed boundary condition called "the divergent component of motion". These techniques allow us to generate walking gait patterns with large margin from the edges of support polygon in real time.
引用
收藏
页码：1084 / 1091
页数：8
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