Online Walking Pattern Generation for Biped Walking

被引：0
|
作者：
Lim, Hun-ok [1 ,4 ]
Yoshida, Tetsuya [2 ]
Takanishi, Atsuo [3 ,4 ]
机构：
[1] Kanazawa Inst Technol, Dept Syst Design Engn, Yokohama, Kanagawa 2430292, Japan
[2] Ishikawajima Harima Heavy Ind Co Ltd, Tokyo, Japan
[3] Waseda Univ, Dept Mech Engn, Tokyo, Japan
[4] Waseda Univ, Inst Humanoid Robot, Tokyo, Japan
来源：
INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS (ICCAS 2010) | 2010年
基金：
日本学术振兴会;
关键词：
Biped walking; interpolation; ZMP; compensatory motion; online walking pattern;
D O I：
暂无
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 describes an online walking pattern generation method for biped humanoid robots which is based on a preview control method. Depending on the walking parameters, a 3-step pattern and reference ZMP are generated, and one step in the pattern is selected for walking. If another 3-step pattern is created, it will connect with the previous step using linear interpolation. This pattern generation method is able to deal with forward, sideward and forward-sideward mixed walking. In order to confirm the pattern generation method, various walking simulations are conducted using MATLAB/Simulink and ADAMS.
引用
收藏
页码：1816 / 1821
页数：6
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