Real-time Walking Gait Generation for Biped Robot
Real-time Walking Gait Generation for Biped Robot
复制标题
双足机器人的实时步行步态生成
DOI：
10.7210/jrsj.29.455
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发表时间：
2011
期刊：
影响因子：
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通讯作者：
T. Yoshiike
中科院分区：
文献类型：
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作者：
T. Takenaka;Takashi Matsumoto;T. Yoshiike
在本文中，我们提出了一种方法来产生各种步行步态模式的机器人在实时使用近似的动力学模型与两个点质量代表运动的脚和一个线性倒立摆代表躯干的水平运动。倒立摆的运动是从脚的轨迹和期望的ZMP计算的。假设给定当前步态和下一个周期步态的这些轨迹，计算周期步态的倒立摆的初始状态，并且使用称为“运动的发散分量”的概念作为松弛的边界条件来修改当前步态的期望ZMP轨迹，使得当前步态收敛到周期步态。使用这些技术，实现了实时步态生成，这需要对期望的ZMP轨迹进行相对少量的修改，同时保证步态生成的连续性。
In this paper, we propose a method to generate various walking gait patterns for biped robots in real-time using an approximated dynamics model with two point masses representing motion of the feet and a linear inverted pendulum representing the horizontal motion of the torso. The motion of the inverted pendulum is calculated from the trajectories of the feet and the desired ZMP. Supposing these trajectories for the current gait and the next cyclic gait are given, the initial state of the inverted pendulum of the cyclic gait is calculated, and the desired ZMP trajectory of the current gait is modified so that the current gait converges to the cyclic gait using the concept called “the divergent component of the motion” as a relaxed boundary condition. Using these techniques, real-time gait generation is achieved which requires a comparatively small amount of modification of the desired ZMP trajectory while guaranteeing the continuity of the gait generation.
DOI：
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