A Biped Pattern Generation Allowing Immediate Modification of Foot Placement in Real-time
A Biped Pattern Generation Allowing Immediate Modification of Foot Placement in Real-time
复制标题
允许立即实时修改足部放置的 Biped 模式生成
DOI：
10.1109/ichr.2006.321332
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发表时间：
2006
期刊：
影响因子：
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通讯作者：
H. Hirukawa
中科院分区：
文献类型：
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作者：
M. Morisawa;K. Harada;S. Kajita;K. Kaneko;F. Kanehiro;K. Fujiwara;Shin'ichiro Nakaoka;H. Hirukawa
提出了一种能在每一步中即时改变步幅的仿人机器人实时步态规划方法。基于倒立摆模型的解析解，用多项式参数化了重心和零力矩点的运动轨迹。由于它们的系数可以有效地计算与给定的边界条件，该框架可以提供一个实时的步行模式生成器的机器人。为了处理由于脚位置的立即改变而引起的意外结果，我们将单支撑周期作为附加的轨迹参数。仿真结果表明了该方法的有效性
This paper proposes a method of a real-time gait planning for biped robots which can change stride immediately at every step. Based on an analytical solution of an inverted pendulum model, the trajectories of COG (center of gravity) and ZMP (zero-moment point) are parameterized by polynomials. Since their coefficients can be efficiently computed with given boundary conditions, this framework can provide a real-time walking pattern generator for biped robots. To handle the unexpected result caused by immediate changes of foot placement, we made single support periods as an additional trajectory parameter. The effectiveness of our method is shown by simulations of the humanoid robot HRP-2
DOI：
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