DocumentCode
1673861
Title
Online walking pattern generation for biped walking
Author
Lim, Hun-ok ; Yoshida, Tetsuya
Author_Institution
Dept. of Mech. Eng., Kanagawa Univ., Yokohama, Japan
fYear
2010
Firstpage
1816
Lastpage
1821
Abstract
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.
Keywords
humanoid robots; interpolation; legged locomotion; motion control; 3-step pattern; ADAMS; MATLAB; Simulink; biped humanoid robots; biped walking; linear interpolation; online walking pattern generation method; preview control method; reference ZMP; walking parameters; walking simulations; Foot; Hip; Humanoid robots; Leg; Legged locomotion; Motion control; Biped walking; ZMP; compensatory motion; interpolation; online walking pattern;
fLanguage
English
Publisher
ieee
Conference_Titel
Control Automation and Systems (ICCAS), 2010 International Conference on
Conference_Location
Gyeonggi-do
Print_ISBN
978-1-4244-7453-0
Electronic_ISBN
978-89-93215-02-1
Type
conf
Filename
5669812
Link To Document