Title :
Optimal Momentum Compensation with Waist Joint for Online Biped Gait Generating of Humanoid Robot
Author :
Xiang, Yuanfei ; Xiong, Rong ; Sun, Yichao ; Wu, Jun ; Chu, Jian
Author_Institution :
State Key Lab. of Ind. Control Technol., Zhejiang Univ., Hangzhou, China
Abstract :
In this paper we introduce a method to generate whole body\´s linear and angular momentum, and use upper body to compensate for the momentum caused by lower-body prescribed trajectory for fast dynamic walk of humanoid robot. In this method, the system dynamic model is built with its performance indices, and the optimal momentum compensation (OPMC) is solved by preview control method. Experiments conducted both in simulation and on real robot "Kong" with a walking motion at the speed of 0.5km/h, proved the effectiveness of our method.
Keywords :
acceleration control; angular momentum; gait analysis; humanoid robots; legged locomotion; motion control; predictive control; robot kinematics; Kong; humanoid robot; motion control; online biped gait analysis; optimal momentum compensation; preview control method; waist joint; walking motion; Hip; Humanoid robots; Joints; Legged locomotion; Robot kinematics; Trajectory; Humanoid Robot; ZMP; momentum compensation;
Conference_Titel :
Networking and Distributed Computing (ICNDC), 2010 First International Conference on
Conference_Location :
Hangzhou
Print_ISBN :
978-1-4244-8382-2
DOI :
10.1109/ICNDC.2010.73
