Realization of dynamic biped walking stabilized by trunk motion on a sagittally uneven surface

EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications Pub Date : 1990-07-03 DOI:10.1109/IROS.1990.262408

A. Takanishi, Hun-ok Lim, M. Tsuda, I. Kato

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引用次数: 145

Abstract

The authors introduce a control method for dynamic biped walking stabilized by trunk motion on a sagitally uneven surface, that is for a biped walking robot which has a trunk to stabilize its walking, and its effectiveness as supported by walking experiments using a biped walking robot. This control method is based on the introduction of a new concept called a virtual surface, to consider the ZMP (zero moment point) on an uneven surface, and the main algorithm for computing the trunk motion which compensates for lower-limbs motion and time trajectory of the arbitrarily planned ZMP on the virtual surfaces. Using this control method in a number of experiments, the biped walking robot WL-12RIII (Waseda Leg-12 Refined III) which has a trunk, realized dynamic biped walking on stairs with a step height of 0.1 m and a trapezoidal terrain with an inclination of +or-10 deg. The walking period was 2.6 sec/step on the stairs, and 1.6 sec/step on the trapezoidal terrain. So that, the effectiveness of this control method was experimentally supported.<>

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矢状不均匀表面上躯干运动稳定两足动态行走的实现

本文介绍了一种利用躯干运动稳定双足机器人在矢状凹凸路面上动态行走的控制方法，并通过双足机器人的行走实验验证了该控制方法的有效性。该控制方法是在引入虚拟曲面概念的基础上，考虑了不均匀曲面上的零力矩点(ZMP)，并给出了躯干运动的主要计算算法，补偿了虚拟曲面上任意规划的零力矩点的下肢运动和时间轨迹。在多次实验中，采用该控制方法的两足步行机器人WL-12RIII (Waseda Leg-12 Refined III)采用躯干，在台阶高度为0.1 m、倾斜为+ -10度的梯形地形上实现了动态两足步行。在楼梯上的步行周期为2.6秒/步，在梯形地形上的步行周期为1.6秒/步。实验证明了该控制方法的有效性

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications

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