动态双足行走稳定与最佳的躯干和腰部运动

Proceedings. IEEE/RSJ International Workshop on Intelligent Robots and Systems '. (IROS '89) 'The Autonomous Mobile Robots and Its Applications Pub Date : 1989-09-04 DOI:10.1109/IROS.1989.637905

A. Takanishi, M. Tochizawa, H. Karaki, I. Kato

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引用次数: 96

摘要

本文介绍了一种躯干和腰部运动稳定的动态双足行走控制方法。该方法的主要算法是在mbt开始行走前，通过任意给定足部轨迹和零点轨迹来计算躯干和腰部的最优时间轨迹，以及一个外力模式。为了确定躯干和腰部的最佳时间轨迹，作者采用了包括躯干和腰部相对位置乘以权重系数的性能指标。1987年，bi@步行机器人-1 ZR (Was& Leg - 12 Refined)在平坦地面上以躯干和腰部运动稳定的动态完全步行中，实现了在矩形外力作用下的各种步态。在这些实验中，最大作用力强度为lO[kgfl]。行走时间为2.6秒/步，最大步长为0.3秒/步。

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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Dynamic Biped Walking Stabilized With Optimal Trunk And Waist Motion

In this paper, the authors intruduce a control method for dynamic biped walking stabilized with trunk and waist motion. The main algorithm of this method is basad m canputing optimal time trajectories of the trunk and waist by arbitrarily giving trajectories of the foot and the ZMp(Zer0Mcment Point)tll, and an external force pattern before the mbt begins walking. To detennine the optimal tim trajectories of the trunkandwaist, theauthorsuseda performance index including the relative position of the trunk and the waist multiplied by weight coefficients. In 1987 , a bi@ walking robot -1 ZR (Was& Leg - 12 Refined) realized various gaits under rectangular external force in dynamic canplete walking stabilized with trunk and waist motion on a flat floor. 'Ihe maxb force strength duringtheseexperiments was lO[kgfl. The time spent walking was 2.6[s/stepl and the maxi." step length was 0.3tmI.

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来源期刊

Proceedings. IEEE/RSJ International Workshop on Intelligent Robots and Systems '. (IROS '89) 'The Autonomous Mobile Robots and Its Applications

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