Walking control on uneven terrain with short cycle pattern generation
Walking control on uneven terrain with short cycle pattern generation
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DOI：
10.1109/ichr.2007.4813908
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发表时间：
2007-11
期刊：
影响因子：
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通讯作者：
K. Nishiwaki;S. Kagami
中科院分区：
文献类型：
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作者：
K. Nishiwaki;S. Kagami
提出了一种用于短周期步行模式生成的传感器反馈控制方法，并实现了在不平坦地形上的步行。我们已经提出了一种在线行走控制系统，该系统在短周期（例如20 [ms]）内生成动态稳定的运动模式。该系统能够将通过传感器反馈从先前生成的模式修改的实际运动状态反映到下一周期的模式生成，使得使用动态模型来维持行走的长期稳定性。本文在系统中引入了两个新的功能。一种是利用安装在腰杆上的姿态测量传感器进行姿态控制和绝对运动估计。另一个是控制每只脚的压力中心，实现脚与地面的稳定接触。该系统已在HRP-2上实现并得到验证。最后，示出了在其上散布有厚度达14[mm]的板的地形上行走的实验。即使踩在盘子的边缘，机器人也能在地形中行走。
This paper addresses sensor feedback control methods that are used with short cycle walking pattern generation and realize walking on uneven terrains which are not modelled in advance. We have proposed an online walking control system that generates a dynamically stable motion pattern in short cycles, such as 20 [ms]. The system is capable of reflecting the actual motion status which is modified from the previously generated pattern by sensor feedback to the pattern generation of the next period so that the long-term stability of the walking is maintained using the dynamic model. Two new functions are introduced into the system in this paper. One is posture control and absolute motion estimation by using attitude measurement sensor mounted on the waist link. The other is center of pressure control for each foot which realizes the stable contact of the foot to the terrain. The proposed system is implemented on HRP-2 and verified. Finally an experiment of walking on the terrain on which plates with up to 14[mm] thickness are scattered is shown. The robot was able to walk through the terrain even when it stepped on the edge of a plate.