A pattern generator of humanoid robots walking on a rough terrain

被引：42
|
作者：
Hirukawa, Hirohisa [1 ]
Hattori, Shizuko [1 ]
Kajita, Shuuji [1 ]
Harada, Kensuke [1 ]
Kaneko, Kenji [1 ]
Kanehiro, Fumio [1 ]
Morisawa, Mitsuharu [1 ]
Nakaoka, Shinichiro [1 ]
机构：
[1] Natl Inst Adv Ind Sci & Technol, Humanoid Robot Grp, Intelligent Syst Inst, 1-1-1 Umezono, Tsukuba, Ibaraki, Japan
来源：
PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10 | 2007年
关键词：
D O I：
10.1109/ROBOT.2007.363644
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper presents a motion pattern generator of humanoid robots that walks on a flat plane, steps and a rough terrain. It is guaranteed rigorously that the desired contact between a humanoid robot and terrain should be maintained by keeping the contact wrench sum between them inside the contact wrench cone under the sufficient friction assumption. A walking pattern is generated by solving the contact wrench equations and by applying the resolved momentum control.
引用
收藏
页码：2181 / +
页数：2
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