Online humanoid walking control system and a moving goal tracking experiment

Author

Nishiwaki, Koichi ; Kagami, Satoshi ; Kuffner, James J. ; Inaba, Masayuki ; Inoue, Hirochika

Author_Institution

Dept. of Mechano-Informatics, Tokyo Univ., Japan

Volume

1

fYear

2003

fDate

14-19 Sept. 2003

Firstpage

911

Abstract

We present a humanoid walking control system that generates body trajectories to follow a given desired motion online. A layered software and control architecture is used to aggregate system components and provide a framework for high-level autonomous locomotion behaviors. Walking characteristics such as desired torso movements, upper body posture and step cycles, can be specified and used to generate stable whole-body walking trajectories online. The basic architecture consists of 4 layers: footstep planning, trajectory generation, trajectory modification from sensor feedback, and joint servo control. In order to test the complete system, we implemented an experimental top-level behavior that enables the robot to track and follow a moving target based on stereo vision feedback. We explain the overall system design and components, and present results based on our current implementation using the humanoid robot ´H7´.

Keywords

control system synthesis; feedback; mobile robots; motion control; position control; robot dynamics; robot vision; servomechanisms; stereo image processing; target tracking; autonomous locomotion; footstep planning; humanoid robot H7; humanoid walking control system; joint servo control; moving target; online; sensor feedback; stereo vision feedback; trajectory generation; trajectory modification; Aggregates; Character generation; Computer architecture; Control systems; Feedback; Legged locomotion; Motion control; Sensor phenomena and characterization; Torso; Trajectory;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on

ISSN

1050-4729

Print_ISBN

0-7803-7736-2

Type

conf

DOI

10.1109/ROBOT.2003.1241709

Filename

1241709