两足动物步行模式在线生成

ICCAS 2010 Pub Date : 2010-12-17 DOI:10.1109/ICCAS.2010.5669812

Hun-ok Lim, T. Yoshida

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引用次数: 7

摘要

介绍了一种基于预览控制的双足人形机器人在线行走模式生成方法。根据步行参数，生成一个3步模式和参考ZMP，并在模式中选择一个步骤进行步行。如果创建另一个3步模式，它将使用线性插值与前一步连接。该模式生成方法能够处理正向、向侧和正向-向混合行走。为了确认模式生成方法，利用MATLAB/Simulink和ADAMS进行了各种步行仿真。

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Online walking pattern generation for biped walking

This paper describes an online walking pattern generation method for biped humanoid robots which is based on a preview control method. Depending on the walking parameters, a 3-step pattern and reference ZMP are generated, and one step in the pattern is selected for walking. If another 3-step pattern is created, it will connect with the previous step using linear interpolation. This pattern generation method is able to deal with forward, sideward and forward-sideward mixed walking. In order to confirm the pattern generation method, various walking simulations are conducted using MATLAB/Simulink and ADAMS.

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ICCAS 2010

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