Comparison Study on Walking Pattern Generation Method of Humanoid Robots for Real-time Implementation

Title
Comparison Study on Walking Pattern Generation Method of Humanoid Robots for Real-time Implementation
Authors
홍석민오용환김도익유범재오상록
Keywords
Walking Pattern; Analytic; Fedback & Feedforward Control
Issue Date
2009-10
Publisher
2009 IARP Workshop on Service Robotics and Nanorobotics
Citation
, 33-38
Abstract
This paper reviews two real-time walking pattern generation methods which have been developed in KIST to control humanoid robots, MAHRU. One method is an analytic walking pattern generation method. This method uses the zero moment point(ZMP) and center of mass (CoM) equations which are obtained by Laplace transformation. On the basis of these equations, this method proposes three step modules to generate the stable walking patterns. The other is a walking pattern generation method implemented with a feedforward controller and a feedback controller. This method uses pole placement method as a feedback controller and the advanced pole-zero cancelation by series approximation(PZCSA) as a feedforward controller. The comparison between the proposed two methods is verified by simulations such as arbitrary steps and an experiment with KIST’s humanoid robot MAHRU-R.
URI
http://pubs.kist.re.kr/handle/201004/36824
Appears in Collections:
KIST Publication > Conference Paper
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