Hong, Seokmin Oh, Yonghwan You, Bum-Jae Oh, Sang-Rok 2024-01-20T21:04:22Z 2024-01-20T21:04:22Z 2021-09-03 2009-07 1861-2776 https://pubs.kist.re.kr/handle/201004/132348 This paper proposes an omni-directional walking pattern generation method for a humanoid robot MAHRU-R. To walk 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 the walking 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 stable walking pattern for various walking. 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. English SPRINGER HEIDELBERG A walking pattern generation method of humanoid robot MAHRU-R Article 10.1007/s11370-009-0039-6 1 INTELLIGENT SERVICE ROBOTICS, v.2, no.3, pp.161 - 171 INTELLIGENT SERVICE ROBOTICS 2 3 161 171 scie scopus 000510887800005 2-s2.0-70349817337 Robotics Robotics Article Humanoid robot Walking pattern generation