Online humanoid walking control system and a moving goal tracking experiment
Online humanoid walking control system and a moving goal tracking experiment
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在线仿人行走控制系统及运动目标跟踪实验
DOI：
10.1109/robot.2003.1241709
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发表时间：
2003
期刊：
影响因子：
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通讯作者：
H. Inoue
中科院分区：
文献类型：
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作者：
K. Nishiwaki;S. Kagami;J. Kuffner;M. Inaba;H. Inoue
我们提出了一种人形行走控制系统，可以生成身体轨迹以在线跟踪给定的所需运动。分层软件和控制架构用于聚合系统组件并为高级自主运动行为提供框架。可以指定所需的躯干运动、上半身姿势和步数周期等步行特征，并用于在线生成稳定的全身步行轨迹。基本架构由 4 层组成：足迹规划、轨迹生成、传感器反馈的轨迹修改和联合伺服控制。为了测试整个系统，我们实现了实验性的顶级行为，使机器人能够基于立体视觉反馈跟踪和跟随移动目标。我们解释了整体系统设计和组件，并根据我们当前使用人形机器人“H7”的实现展示了结果。
We present a humanoid walking control system that generates body trajectories to follow a given desired motion online. A layered software and control architecture is used to aggregate system components and provide a framework for high-level autonomous locomotion behaviors. Walking characteristics such as desired torso movements, upper body posture and step cycles, can be specified and used to generate stable whole-body walking trajectories online. The basic architecture consists of 4 layers: footstep planning, trajectory generation, trajectory modification from sensor feedback, and joint servo control. In order to test the complete system, we implemented an experimental top-level behavior that enables the robot to track and follow a moving target based on stereo vision feedback. We explain the overall system design and components, and present results based on our current implementation using the humanoid robot 'H7'.