Circular arc-shaped walking trajectory generation for bipedal humanoid robots
Circular arc-shaped walking trajectory generation for bipedal humanoid robots
复制标题
双足仿人机器人圆弧形行走轨迹生成
DOI：
10.1109/amc.2012.6197021
复制
发表时间：
2012
期刊：
影响因子：
--
通讯作者：
K. Erbatur
中科院分区：
文献类型：
--
作者：
Metin Yílmaz;Utku Seven;K. C. Fidan;T. Akbas;K. Erbatur
设计一个能够实现稳定行走的控制器是双足仿人机器人的关键。参考轨迹生成是行走控制的核心。零力矩点（ZMP）判据是用于轨迹生成的最广泛使用的稳定性判据。当ZMP方程与一个简单机构的动力学方程耦合时，它被最成功地使用，线性倒立摆模型（LIPM）近似于人形模型。在许多方法中，机器人主体的质心（CoM）的位置参考从预定义的ZMP参考计算。在计算CoM之后，通过逆运动学计算关节参考。一个自然的ZMP参考轨迹和傅立叶级数近似为基础的方法计算的CoM参考，以前提出的人形机器人SURALP（萨班奇大学机器人研究Arch实验室平台），直线行走本文改进了这些技术，通过修改直线行走参考轨迹成弧形。原则上，直线行走将投影到具有所需半径的圆弧上的行走参照中。通过调整圆弧半径指令，实现了机器人行走方向的在线平滑变化。在SURALP上对所提出的参考生成算法进行了测试。实验结果表明，该方法能够成功地生成稳定的圆弧行走。
The design of a controller which can achieve a steady and stable walk is crucial in bipedal humanoid robotics. Reference trajectory generation is central in the walking control. The Zero Moment Point (ZMP) criterion is the most widely used stability criterion for trajectory generation. It is most successfully used when the ZMP equations are coupled with the dynamics equations of a simple mechanism, the Linear Inverted Pendulum Model (LIPM) which approximates the humanoid model. In a number of approaches the position reference for the Center of Mass (CoM) of the robot body is computed from predefined ZMP references. After the computation of the CoM, the joint references are computed by inverse kinematics. A natural ZMP reference trajectory and a Fourier series approximation based method for computing the CoM reference from it, was previously proposed for the humanoid robot SURALP (Sabanci University Robotics ReseArch Laboratory Platform), for a straight walk This paper improves these techniques by modifying the straight walk reference trajectory into an arc-shaped one. In principle the straight walk is projected into a walk reference on an arc with a desired radius. On-line smooth change of the walking direction is achieved by adjusting the arc radius command. The proposed reference generation algorithm is tested on SURALP. Experiments indicate that the method is successful in generating a stable walk following an arc.