A continuous-time walking pattern generator for realizing seamless transition between flat-contact and heel-to-toe walking
A continuous-time walking pattern generator for realizing seamless transition between flat-contact and heel-to-toe walking
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DOI：
10.1080/01691864.2022.2120774
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发表时间：
2022-09
影响因子：
2
通讯作者：
Y. Tazaki;Satomi Hanasaki;Soh Yukizaki;Yugo Mitazono;Hikaru Nagano;Y. Yokokohji
中科院分区：
文献类型：
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作者：
Y. Tazaki;Satomi Hanasaki;Soh Yukizaki;Yugo Mitazono;Hikaru Nagano;Y. Yokokohji
提出了一种可以生成连续时间步行模式的规划算法，包括平接触步态和从脚跟到脚趾步行步态之间的无缝过渡。规划器利用改进的线性倒立摆模式的封闭式解决方案，其中在其动力学中明确包括 ZMP 和每只脚的重量比。每只脚的脚跟到脚趾的运动都由ZMP直接参数化，因此保证了脚部运动和低维动力学之间的一致性。在使用真人大小的人形机器人的 32 DoF 模型进行模拟时，实现了最高速度 4.6 km/h 的类人快速行走。图解摘要
A planning algorithm that can generate continuous-time walking patterns including the seamless transition between flat-contact and heel-to-toe walking gaits is proposed. The planner makes use of the closed-form solution of a modified linear inverted pendulum mode which includes the ZMP and the weight ratio of each foot explicitly in its dynamics. The heel-to-toe movement of each foot is directly parameterized by the ZMP, and therefore consistency between the foot movement and the low-dimensional dynamics is ensured. In simulations with a 32 DoF model of a life-sized humanoid robot, fast human-like walking at the maximum speed of 4.6 km/h was achieved. GRAPHICAL ABSTRACT