Online Walking Pattern and Balance Motion for a Biped Humanoid Robot Having a Trunk

• 영문명: Online Walking Pattern and Balance Motion for a Biped Humanoid Robot Having a Trunk
• 발행기관: 한국과학기술원 인간친화 복지 로봇 시스템 연구센터
• 저자명: Hun-oK Lim Yoshiharu Kaneshima Atsuo Takanishi
• 간행물 정보: 『International Journal of Assistive Robotics and Mechatronics』International Journal of Human-friendly Welfare Robotic Systems Vol.5 No.1, 26~35쪽, 전체 10쪽
• 주제분류: 공학 > 제어계측공학
• 파일형태: PDF
• 발행일자: 2004.04.01

영문 초록

  This paper describes an online locomotion pattern generation for a biped humanoid robot having a three degrees of freedom trunk. This pattern generator uses visual and auditory sensors to detect a walking length and direction from human robot interaction. The motion pattern of the lower-limbs is generated in real time on the basis of walking commands. Depending on the contact information of the landing foot, ZMP is set arbitrarily in a support polygon. To maintain the balance of the whole robot body during walking, the motions of the trunk and the waist are generated by a compensatory motion control method based on the ZMP and the motion of the lower-limbs. To confirm the online locomotion, we have developed a human-like biped robot, WABIAN-RIV that consists of forty-three mechanical degrees of freedom. Versatile biped walking experiments have been conducted on a horizontal plane using visual and auditory information, and the validity of the online pattern generation and the compensatory motion control has been assured.

목차

Abstract
Ⅰ. INTRODUCTION
Ⅱ. ONLINE LOCOMOTION PATTERN GENERATION
Ⅲ. COMPENSATORY MOTION CONTROL
Ⅳ. EXPERIMENTAL TESTS
Ⅴ. CONCLUSION AND DISCUSSION
ACKNOWLEDGEMENTS
REFERENCES

키워드

Online pattern generation support polygon locomotion pattern visual and auditory system compensatory motion