Task-based Whole-body Control of Humanoid Robots to a Walking Motion

被引：0
|
作者：
Xie, Kaibing [1 ]
Zhao, Jianghai [2 ]
Mei, Tao [2 ]
机构：
[1] Univ Sci & Technol China, Dept Automat, Hefei 230027, Anhui, Peoples R China
[2] Chinese Acad Sci, Hefei Inst Phys Sci, Inst Adv Mfg & Technol, Changzhou 213164, Jiangsu, Peoples R China
来源：
2015 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION | 2015年
关键词：
humanoid robots; whole-body control; stable walking control;
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：
In this paper a whole-body control strategy is proposed for walking of humanoid robots. Its basic idea lies in the control of the centre of mass(CoM) with a ZMP regulation as well as the relative pose of the feet of the robot. A stable walking trajectory based on 3D linear inverted pendulum model (3D-LIPM) is planned for the study. Through the proposed study, it is shown that the proposed control strategy perfectly tracks the planned trajectory of CoM and adjusts the ZMP back to the stability area when the robot is out of balance. Simulations results are presented to show the effectiveness of the proposed control scheme.
引用
收藏
页码：1187 / 1192
页数：6
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