Walking control algorithm of biped humanoid robot on uneven and inclined floor
Walking control algorithm of biped humanoid robot on uneven and inclined floor
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DOI：
10.1007/s10846-006-9107-8
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发表时间：
2007-04-01
影响因子：
3.3
通讯作者：
Oh, Jun-Ho
中科院分区：
文献类型：
--
作者：
Kim, Jung-Yup;Park, Ill-Woo;Oh, Jun-Ho
本文描述了双足人形机器人在不平坦和倾斜的地板上稳定行走的行走控制算法。许多行走控制技术都是基于行走表面完全平坦且没有倾斜的假设而开发的。因此，大多数双足人形机器人都在精心设计的平坦地板上进行动态行走。然而，实际上，看似平坦的典型房间地板具有约 2 度的局部和整体倾斜度。值得注意的是，即使地板轻微不平整也会导致双足行走机器人严重不稳定。在本文中，作者提出了一种在线控制算法，该算法考虑了地板的局部和全局倾斜度，通过该算法，双足人形机器人可以适应地板条件。对于行走动作，首先设计合适的行走模式。然后开发在线控制器并在步行周期的适当时期激活。使用我们的双足人形机器人HUBO的测试机器人平台KHR-2（KAIST Humanoid Robot-2）在不平坦和倾斜的地板上进行行走实验，成功地测试和证明了行走控制算法。
This paper describes walking control algorithm for the stable walking of a biped humanoid robot on an uneven and inclined floor. Many walking control techniques have been developed based on the assumption that the walking surface is perfectly flat with no inclination. Accordingly, most biped humanoid robots have performed dynamic walking on well designed flat floors. In reality, however, a typical room floor that appears to be flat has local and global inclinations of about 2 degrees. It is important to note that even slight unevenness of a floor can cause serious instability in biped walking robots. In this paper, the authors propose an online control algorithm that considers local and global inclinations of the floor by which a biped humanoid robot can adapt to the floor conditions. For walking motions, a suitable walking pattern was designed first. Online controllers were then developed and activated in suitable periods during a walking cycle. The walking control algorithm was successfully tested and proved through walking experiments on an uneven and inclined floor using KHR-2 (KAIST Humanoid robot-2), a test robot platform of our biped humanoid robot, HUBO.