A Fast Online Gait Planning with Boundary Condition Relaxation for Humanoid Robots
A Fast Online Gait Planning with Boundary Condition Relaxation for Humanoid Robots
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DOI：
10.1109/robot.2005.1570136
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发表时间：
2005-04
期刊：
影响因子：
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通讯作者：
T. Sugihara;Yoshihiko Nakamura
中科院分区：
文献类型：
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作者：
T. Sugihara;Yoshihiko Nakamura
提出了一种快速在线步态规划方法。在质量集中于COG的近似双足动力学模型的基础上，解析得到了运动方程的通解。由于欠驱动引起的外部反作用力的动力约束通过边界条件松弛来解决，即通过承认期望状态和实际达到状态之间的一些误差来解决。通过接受ZMP轨迹的不连续，它可能产生响应运动，这需要强大的瞬时加速度，这被设计为指数函数。提出了一种半自动连续步态规划方法。它只从下一个期望的脚位置产生物理上可行的全身参考轨迹。通过一个小型拟人机器人的仿真和实验，验证了所提方法的有效性。
A fast online gait planning method is proposed. Based on an approximate dynamical biped model whose mass is concentrated to COG, general solution of the equation of motion is analytically obtained. Dynamical constraint on the external reaction force due to the underactuation is resolved by boundary condition relaxation, namely, by admitting some error between the desired and actually reached state. It potentially creates responsive motion which requires strong instantaneous acceleration by accepting discontinuity of ZMP trajectory, which is designed as an exponential function. A semi-automatic continuous gait planning is also presented. It generates physically feasible referential trajectory of the whole-body only from the next desired foot placement. The validity of proposed is ensured through both simulations and experiments with a small anthropomorphic robot.