{"title":"仿人机器人的全向行走","authors":"Shixiong Wang, Mengkai Hu, Haobin Shi, Shuge Zhang, Xuesi Li, Wenyan Li","doi":"10.1109/ICINFA.2015.7279317","DOIUrl":null,"url":null,"abstract":"The development of humanoid robots has great advantages[1] including economically efficient, appreciation-worthy, and etc. This paper proposes an omnidirectional gait generation mode based on linear centroid motion and the cubic spline interpolation. And then, based on the ZMP stability criterion, online feedback regulation is conducted on the robots' centroid according to the positional relationship of the centroid and ZMP. The result of the simulation verifies that the method can effectively implement a fast and stable omnidirectional walk for the humanoid robots.","PeriodicalId":186975,"journal":{"name":"2015 IEEE International Conference on Information and Automation","volume":"47 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2015-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"2","resultStr":"{\"title\":\"Humanoid robot's omnidirectional walking\",\"authors\":\"Shixiong Wang, Mengkai Hu, Haobin Shi, Shuge Zhang, Xuesi Li, Wenyan Li\",\"doi\":\"10.1109/ICINFA.2015.7279317\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"The development of humanoid robots has great advantages[1] including economically efficient, appreciation-worthy, and etc. This paper proposes an omnidirectional gait generation mode based on linear centroid motion and the cubic spline interpolation. And then, based on the ZMP stability criterion, online feedback regulation is conducted on the robots' centroid according to the positional relationship of the centroid and ZMP. The result of the simulation verifies that the method can effectively implement a fast and stable omnidirectional walk for the humanoid robots.\",\"PeriodicalId\":186975,\"journal\":{\"name\":\"2015 IEEE International Conference on Information and Automation\",\"volume\":\"47 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2015-10-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"2\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2015 IEEE International Conference on Information and Automation\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ICINFA.2015.7279317\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2015 IEEE International Conference on Information and Automation","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICINFA.2015.7279317","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
The development of humanoid robots has great advantages[1] including economically efficient, appreciation-worthy, and etc. This paper proposes an omnidirectional gait generation mode based on linear centroid motion and the cubic spline interpolation. And then, based on the ZMP stability criterion, online feedback regulation is conducted on the robots' centroid according to the positional relationship of the centroid and ZMP. The result of the simulation verifies that the method can effectively implement a fast and stable omnidirectional walk for the humanoid robots.
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