Running pattern generation of humanoid biped with a fixed point and its realization
Running pattern generation of humanoid biped with a fixed point and its realization
复制标题
定点仿人双足跑步模式生成及其实现
DOI：
10.1142/s0219843609001930
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发表时间：
2008
期刊：
影响因子：
--
通讯作者：
Jun
中科院分区：
文献类型：
--
作者：
Baek;Ill;Jun
本文讨论了仿人机器人运动轨迹的生成，并通过实验验证了所提出的运动轨迹生成方法的有效性。当在矢状平面中使用解析动量控制创建运行模式时，机器人在质心（COM）处的角动量被设置为零，因为角动量导致机器人旋转。然而，这也引起机器人的上身的不自然运动。为解决这一问题，将机器人视为一个在支撑踝关节处具有自由关节的虚拟欠驱动机器人，并确定了虚拟欠驱动系统的不动点。在此之后，使用固定点制定矢状面中的周期性运行模式。不动点很容易用数值方法确定。在一项实验中，一个名为KHR-2的人形机器人使用所提出的跑步模式生成方法向前跑。其最大速度为2.88公里/小时。未来，将实现更快的运行和更稳定的运行控制器。
This paper discusses the generation of a running pattern for a humanoid biped and verifies the validity of the proposed method of running pattern generation via experiments. When a running pattern is created with resolved momentum control in the sagittal plane, the angular momentum of the robot at the Center of Mass (COM) is set to zero, as the angular momentum causes the robot to rotate. However, this also induces unnatural motion of the upper body of the robot. To solve this problem, the biped was set as a virtual under-actuated robot with a free joint at its support ankle, and a fixed point for a virtual under-actuated system was determined. Following this, a periodic running pattern in the sagittal plane was formulated using the fixed point. The fixed point is easily determined in a numerical approach. In an experiment, a humanoid biped known as KHR-2 ran forward using the proposed running pattern generation method. Its maximum velocity was 2.88 km/h. In the future, faster running and more stable running with controllers will be realized.