Online walking pattern generation for biped humanoid robot with trunk

被引：0
|
作者：
Lim, H [1 ]
Kaneshima, Y [1 ]
Takanishi, A [1 ]
机构：
[1] Kanagawa Inst Technol, Dept Syst Design Engn, Atsugi, Kanagawa 2430292, Japan
来源：
2002 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS I-IV, PROCEEDINGS | 2002年
关键词：
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 method generating walking patterns for biped humanoid robots having a trunk. Depending on the walking command, the motion patterns of the lower-limbs are created and connected to the prewalking patterns smoothly in online. For the stability of the biped robots, the trunk and the waist motion is generated by a walking stabilization control that is based on the ZMP trajectory and the motion of the lower-limbs. Experimental tests of versatile biped walking on a plane surface are conducted using an auditory interface, and the validity of the online pattern generation method is verified.
引用
收藏
页码：3111 / 3116
页数：6
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