Vibration Suppression Based on Input Shaping for Biped Walking

被引：0

作者：

Yi, Jiang ^{[1
]}

Zhu, Qiuguo ^{[1
]}

Xiong, Rong ^{[1
]}

Wu, Jun ^{[1
]}

机构：

[1] Zhejiang Univ, State Key Lab Ind Control Technol, Hangzhou, Zhejiang, Peoples R China

来源：

2016 IEEE-RAS 16TH INTERNATIONAL CONFERENCE ON HUMANOID ROBOTS (HUMANOIDS) | 2016年

基金：

中国国家自然科学基金;

关键词：

D O I：

暂无

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

The non-rigid behavior of a humanoid robot system will cause vibrations during walking which can affect the walking stability. In this paper, a feed forward controller based on the input shaping method is proposed to reduce such vibrations, which are modeled with second-order processes. Then the corresponding input shapers are designed and applied to the reference ZMP trajectory. The motions generated from the modified referenced ZMP trajectory will yield significantly less vibrations. The effectiveness of our method was validated through experiments on a full-size humanoid robot.

引用

页码：236 / 241

页数：6

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