A Walking pattern generation method of humanoid robot MAHRU-R
- A Walking pattern generation method of humanoid robot MAHRU-R
- 홍석민; 오용환; 유범재; 오상록
- Walking pattern; Analytic; Polynomial; MAHRU-R; Humanoid robot; Walking pattern generation
- Issue Date
- Intelligent Service Robotics
- VOL 2, NO 3, 161-171
- This paper proposes an omni-directional walking
pattern generation method for a humanoid robotMAHRU-R.
Towalk stably without falling down, a humanoid robot needs
the walking pattern. Our previous walking pattern method
generated the walking pattern with linear polynomials of the
zero moment point (ZMP). It implemented the simple walking
like forward/backward walking, side step walking and
turning. However, this method was not sufficient to satisfy
the various walking which is combined by forward/backward
walking, side step walking and turning. We needed to
upgrade thewalking pattern generation method to implement
an omni-directional walking.We use the linear inverted pendulum
model consisted of ZMP and center of mass in order
to simplify the computation of walking pattern. The proposed
method assumes that the state of the following stride
is same to the state of the current stride. Using this assumption
of walking pattern, the proposed method generates the
stablewalking pattern for variouswalking. And the proposed
scheme generates the ZMP trajectory with the quartic polynomials
in order to reduce the fluctuation of ZMP trajectory
by various walking. To implement the efficient walking pattern,
this method proposes three walking modules: periodic
step module, transient step module and steady step module.
Each step module utilizes weighted least square method with
future ZMP position information. The effectiveness of the
proposed method is verified by simulations of various walking.
And the proposed method is confirmed by the experiment
of real humanoid robot MAHRU-R.
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- KIST Publication > Article
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