Online mixture and connection of basic motions for humanoid walking control by footprint specification

Author

Nishiwaki, Koic Hi ; Sugihara, Tomomichi ; Kagami, Satoshi ; Inaba, Masa Yuki ; Inoue, Hirochih

Author_Institution

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

Volume

4

fYear

2001

fDate

2001

Firstpage

4110

Abstract

This paper introduces and describes a novel method which enables the online generation of humanoid walking patterns that follow desired footprint locations. Online generation is realized by the dynamically stable mixture and connection of pre-designed motions. Characteristics of zero moment point (ZMP) are utilized in order to maintain the overall dynamic stability of "mixed" motions. Experiments using an online pattern generation software system and online walking control joystick interface for the humanoid robot H6 are introduced to show the validity of the method.

Keywords

legged locomotion; motion control; real-time systems; robot dynamics; stability; H6 humanoid robot; dynamic stability; footprint specification; legged locomotion; real time systems; walking control; walking pattern generation; zero moment point criteria; Control systems; Costs; Foot; Humanoid robots; Humans; Legged locomotion; Motion control; Orbital robotics; Shape; Turning;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on

ISSN

1050-4729

Print_ISBN

0-7803-6576-3

Type

conf

DOI

10.1109/ROBOT.2001.933260

Filename

933260