Title :
Online walking pattern generation for biped humanoid robot with trunk
Author :
Lim, Hun-ok ; Kaneshima, Yoshiharu ; Takanishi, Atsuo
Author_Institution :
Dept. of Syst. Design Eng., Kanagawa Inst. of Technol., Japan
Abstract :
This paper describes an online method generating walking patterns for biped humanoid robots having a trunk. Depending on the walking command, the motion patterns of the lower-limbs are created and connected to the prewalking patterns smoothly in online. For the stability of the biped robots, the trunk and the waist motion is generated by a walking stabilization control that is based on the ZMP trajectory and the motion of the lower-limbs. Experimental tests of versatile biped walking on a plane surface are conducted using an auditory interface, and the validity of the online pattern generation method is verified
Keywords :
legged locomotion; stability; ZMP trajectory; auditory interface; biped humanoid robot; lower-limb motion patterns; online walking pattern generation; prewalking patterns; stability; waist motion; Arm; Design engineering; Humanoid robots; Leg; Legged locomotion; Motion control; Robot kinematics; Service robots; Systems engineering and theory; Torso;
Conference_Titel :
Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on
Conference_Location :
Washington, DC
Print_ISBN :
0-7803-7272-7
DOI :
10.1109/ROBOT.2002.1013705
