Walking gait planning of humanoid soccer robot based on the desired ZMP trajectories

Author

Peng, Shengjun ; Shui, Haitao ; Li, Guang ; Ma, Hongxu

Author_Institution

Coll. of Electromech. Eng. & Autom., Nat. Univ. of Defense Technol., Changsha, China

Volume

2

fYear

2010

fDate

30-31 May 2010

Firstpage

127

Lastpage

131

Abstract

The walking gait planning of humanoid soccer robot is mainly studied in this paper. Firstly, our humanoid soccer robot is introduced, including its basic parameters, its controller and its three new sensors. Secondly, the simplified cart-table model and Zero Moment Point (ZMP) equation are presented. Thirdly, the Center of Mass (COM) and the Center of Coxa (COC) trajectories are computed according to the desired ZMP trajectory, and two feet trajectories are also planned according to the step parameters, then the trajectories of 12 joint angles for lower limbs are calculated according to the closed-form solving of inverse kinematics. Finally, the numeric simulation for walking 6 steps is given, and the method of gait planning using in the paper is validated by simulation.

Keywords

Equations; Humanoid robots; Legged locomotion; Mobile robots; Robot sensing systems; Robotics and automation; Service robots; Servomechanisms; Technology planning; Trajectory; cart-table model; gait planning; humanoid soccer robot; linear inverted pendulum model;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Mechatronics and Automation (ICIMA), 2010 2nd International Conference on

Conference_Location

Wuhan, China

Print_ISBN

978-1-4244-7653-4

Type

conf

DOI

10.1109/ICINDMA.2010.5538351

Filename

5538351