Design and construction of a series of compact humanoid robots and development of biped walk control strategies
Design and construction of a series of compact humanoid robots and development of biped walk control strategies
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DOI：
10.1016/s0921-8890(01)00151-8
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发表时间：
2001-11-30
影响因子：
4.3
通讯作者：
Tomiyama, K
中科院分区：
文献类型：
--
作者：
Furuta, T;Tawara, T;Tomiyama, K
介绍了工程系统实验室ESYS类人机器人项目中紧凑体类人机器人的设计和构造，以及在其上实现的各种双足运动控制策略。讨论了Mk.1 ~ Mk.5型紧凑型人形机器人的设计理念和硬件规格。在双足行走控制方面，提出了四种具有通用性强、高能效、硬件负载平稳、步态生成实时等优点的双足运动控制策略。将所提出的控制策略应用于拟人机器人，实现了拟人机器人的三维双足动态行走。对所提出的控制策略进行了评价实验。(C) 2001 Elsevier Science B.V.版权所有
Design and construction of compact body humanoid robots and various biped locomotion control strategies implemented onto them in the ESYS humanoid project at the Engineering Systems Laboratory are presented. Design concepts and hardware specifications of the constructed compact size humanoid robots from Mk.1 to Mk.5 are discussed. As for the biped walk control, four biped locomotion control strategies all of which have various advantages such as versatility, high-energy efficiency, smooth loading on hardware, and real-time gait generation, are proposed. 3D biped dynamic walking of the constructed humanoids is realized by implementing the proposed biped control strategies onto them. Results of evaluation experiments on the proposed control strategies are reported. (C) 2001 Elsevier Science B.V. All rights reserved.