Title :
ZMP-based Biped Running Enhanced by Toe Springs
Author :
Kajita, Shuujj ; KANEKO, Kenji ; Morisawa, Mitsuharu ; Nakaoka, Shinichiro ; Hirukawa, Hirohisa
Author_Institution :
Intelligent Syst. Res. Inst., AIST, Tsukuba
Abstract :
We discuss a ZMP-based running pattern generation for a biped robot equipped with toe springs. Our biped robot HRP-2LT has twelve active DoFs for its legs and two passive DoFs for its toes. The trajectory of the center of mass is designed to realize the specified running motion and the foot trajectories are determined to get proper spring action at lift off phases. They are interpreted into joint angles by using the resolved momentum control. By the simulation and the preliminary experiment, it is shown that the toe springs are effectively used for running and hopping.
Keywords :
legged locomotion; motion control; position control; HRP-2LT biped robot; ZMP-based biped running; foot trajectory; joint angle; momentum control; running motion; running pattern generation; toe springs; Foot; Hardware; Humanoid robots; Intelligent robots; Intelligent systems; Leg; Legged locomotion; Mobile robots; Robotics and automation; Springs;
Conference_Titel :
Robotics and Automation, 2007 IEEE International Conference on
Conference_Location :
Roma
Print_ISBN :
1-4244-0601-3
Electronic_ISBN :
1050-4729
DOI :
10.1109/ROBOT.2007.364087
