Online mixture and connection of basic motions for humanoid walking control by footprint specification
Online mixture and connection of basic motions for humanoid walking control by footprint specification
复制标题
通过足迹规范实现人形行走控制基本动作的在线混合和连接
DOI：
10.1109/robot.2001.933260
复制
发表时间：
2001
期刊：
影响因子：
--
通讯作者：
H. Inoue
中科院分区：
文献类型：
--
作者：
K. Nishiwaki;T. Sugihara;S. Kagami;M. Inaba;H. Inoue
本文介绍并描述了一种能够在线生成符合期望足迹位置的人形步行模式的新方法。在线生成是通过预先设计的运动的动态稳定混合和连接来实现的。利用零力矩点（ZMP）的特性来保持“混合”运动的整体动态稳定性。利用在线模式生成软件系统和人形机器人H6的在线行走控制操纵杆界面进行了实验，验证了该方法的有效性。
This paper introduces and describes a novel method which enables the online generation of humanoid walking patterns that follow desired footprint locations. Online generation is realized by the dynamically stable mixture and connection of pre-designed motions. Characteristics of zero moment point (ZMP) are utilized in order to maintain the overall dynamic stability of "mixed" motions. Experiments using an online pattern generation software system and online walking control joystick interface for the humanoid robot H6 are introduced to show the validity of the method.