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
相关论文
共 50 条
  • [31] Preview Control-Based Online Walking Pattern Generation for Biped Robots with Vertical Center-of-Mass Motion
    Ryu, Kunhee
    Yoo, Jehwi
    Back, Juhoon
    Park, Ill-Woo
    [J]. INTERNATIONAL JOURNAL OF PRECISION ENGINEERING AND MANUFACTURING, 2020, 21 (09) : 1653 - 1661
  • [32] REALIZATION OF WALKING BY FFT-BASED ONLINE PATTERN GENERATION
    Kondo, Hideki
    Shimizu, Juri
    Hashimoto, Kenji
    Hattori, Kentaro
    Nishikawa, Kosuke
    Takezaki, Yuki
    Hama, Yuichiro
    Yoshimura, Yuki
    Lim, Hun-Ok
    Takanishi, Atsuo
    [J]. MOBILE ROBOTICS-SOLUTIONS AND CHALLENGES, 2010, : 615 - 622
  • [33] Online ZMP Sampling Search for Biped Walking Planning
    Liu, Jinsu
    Veloso, Manuela
    [J]. 2008 IEEE/RSJ INTERNATIONAL CONFERENCE ON ROBOTS AND INTELLIGENT SYSTEMS, VOLS 1-3, CONFERENCE PROCEEDINGS, 2008, : 185 - 190
  • [34] Biped Walking Control Using Offline and Online Optimization
    Liu Chenggang
    Su Jianbo
    [J]. 2011 30TH CHINESE CONTROL CONFERENCE (CCC), 2011, : 3472 - 3477
  • [35] PREVIEW CONTROL WITH ADAPTIVE FUZZY STRATEGY FOR ONLINE BIPED GAIT GENERATION AND WALKING CONTROL
    Ding, Jiatao
    Xiao, Xiaohui
    Wang, Yang
    [J]. INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION, 2016, 31 (06): : 496 - 508
  • [36] Measurement of human walking and generation of humanoid walking pattern
    Huang, Qiang
    Yang, Jie
    Yu, Zhangguo
    Xu, Wei
    Li, Jianxi
    Li, KeJie
    [J]. 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, VOLS 1-5, 2007, : 127 - 132
  • [37] A Walking Pattern Generator for Biped Robots on Uneven Terrains
    Zheng, Yu
    Lin, Ming C.
    Manocha, Dinesh
    Adiwahono, Albertus Hendrawan
    Chew, Chee-Meng
    [J]. IEEE/RSJ 2010 INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2010), 2010,
  • [38] Biped walking pattern generation by using preview control of zero-moment point
    Kajita, S
    Kanehiro, F
    Kaneko, K
    Fujiwara, K
    Harada, K
    Yokoi, K
    Hirukawa, H
    [J]. 2003 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-3, PROCEEDINGS, 2003, : 1620 - 1626
  • [39] Stable walking pattern for an SMA-actuated biped
    Esfahani, Ehsan Tarkesh
    Elahinia, Mohammad H.
    [J]. IEEE-ASME TRANSACTIONS ON MECHATRONICS, 2007, 12 (05) : 534 - 541
  • [40] Biped walking pattern generation by a simple three-dimensional inverted pendulum model
    Kajita, S
    Kanehiro, F
    Kaneko, K
    Fujiwara, K
    Yokoi, K
    Hirukawa, H
    [J]. ADVANCED ROBOTICS, 2003, 17 (02) : 131 - 147
12345