Title :
A Real-time Planning and Control Strategy of Humanoid Robot Walking on Irregular Terrain
Author :
Sheng, Tao ; Wang, Jian ; Ma, Hongxu ; Qin, Haili
Author_Institution :
Robot Lab., Nat. Univ. of Defense Technol., Changsha
Abstract :
Improving environmental adaptability is a key to the humanoid robot research. A strategy of real-time planning and control was proposed in the paper based on F/T information feedback. The robot lands it´s whole sole on the ground by adopting ankle´s moment control, calculates the parameters of gait and plans current step based on stability criterion. During walking, posture is real-time regulated according to the information of ZMP to realize the stability. In the end, the walking process was simulated and experiments were developed to confirm this strategy
Keywords :
adaptive control; feedback; force control; humanoid robots; legged locomotion; motion control; path planning; stability; torque control; ankle moment control; environmental adaptability; force sensor; gait planning; humanoid robot; information feedback; irregular terrain; real-time control; real-time planning; stability; torque sensor; walking; Automation; Feedback; Force sensors; Humanoid robots; Intelligent control; Intelligent robots; Legged locomotion; Robot sensing systems; Stability criteria; Strategic planning; Gait Planning; Humanoid Robot; ZMP; force/torque sensor;
Conference_Titel :
Intelligent Control and Automation, 2006. WCICA 2006. The Sixth World Congress on
Conference_Location :
Dalian
Print_ISBN :
1-4244-0332-4
DOI :
10.1109/WCICA.2006.1713725
