Stabilization Walking Control for Human-like Biped Robots
Stabilization Walking Control for Human-like Biped Robots
复制标题
类人双足机器人的稳定行走控制
DOI：
10.1007/978-3-7091-2552-6_49
复制
发表时间：
2002
期刊：
影响因子：
--
通讯作者：
A. Takanishi
中科院分区：
文献类型：
--
作者：
Hun;Y. Sugahara;A. Takanishi
介绍了一种双足类人形机器人的稳定行走控制方法，以实现动态行走。当Biped机器人在地面上行走时，腿部和上肢的运动会产生力矩，使其不稳定。为了抵消产生的力矩，采用了躯干和腰部的补偿运动，并利用基于模型的步行控制算法计算了步行控制方法的补偿运动。在短暂步行阶段，由于不稳定，躯干和腰部的移动应早于ZMP在地板上的移动。通过动态行走实验验证了该控制方法的有效性。
This paper describes a stabilization walking control method for a biped humanoid robot with a trunk to realize the dynamic walking. When the biped robot walks on the ground, the motion of the lower-limbs and the upper-limbs generates moments that make it unstable. In order to cancel the produced moments, the compensatory motion of the trunk and the waist is used, which is calculated by the walking control method based on a model-based walking control algorithm. In the transient walking phases, the trunk and the waist should move earlier than the shift of ZMP on the floor due to instability. The effectiveness of the control method is con.rmed by dynamic walking experiments.