Mechanisms of biped humanoid robot and online walking pattern generation

Author

Yamada, Kouhei ; Sayama, Keisuke ; Yoshida, Tetsuya ; Lim, Hun-ok

Author_Institution

Grad. Sch. of Eng., Kanagawa Univ., Yokohama, Japan

fYear

2011

fDate

26-29 Oct. 2011

Firstpage

1117

Lastpage

1122

Abstract

This paper describes the mechanism of a biped humanoid robot, KBHR (Kanagawa Biped Robot-2), that has large moveable angles similar to humans´. The KBHR has 29 degrees of freedom (DOF) (two 6 DOF legs, a 3 DOF waist and two 7 DOF arms). Also, an online walking pattern generation method for a biped humanoid robot based on preview control is proposed. Depending on the walking parameters (step length, height, etc.), a pre-3-step pattern is created, and one step of the 3-step pattern is selected for one step of the robot. Using KBHR, various walking experiments are conducted, and the effectiveness of the mechanism and the online walking pattern generation method is confirmed.

Keywords

humanoid robots; legged locomotion; motion control; predictive control; Kanagawa Biped Robot-2; biped humanoid robot; pre-3-step pattern; preview control; walking pattern generation; Humanoid robots; Joints; Legged locomotion; Motion control; Shoulder; Wrist; Biped walking; ZMP; compensatory motion; interpolations; online walking pattern;

fLanguage

English

Publisher

ieee

Conference_Titel

Control, Automation and Systems (ICCAS), 2011 11th International Conference on

Conference_Location

Gyeonggi-do

ISSN

2093-7121

Print_ISBN

978-1-4577-0835-0

Type

conf

Filename

6106093