Title :
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
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;
Conference_Titel :
Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on
Print_ISBN :
0-7803-6576-3
DOI :
10.1109/ROBOT.2001.933260
