Sensory reflex control for humanoid walking
Sensory reflex control for humanoid walking
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DOI：
10.1109/tro.2005.851381
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发表时间：
2005-10-01
影响因子：
7.8
通讯作者：
Nakamura, Y
中科院分区：
文献类型：
--
作者：
Huang, Q;Nakamura, Y
由于双足类人生物本质上存在不稳定性，并且总是有翻倒的风险，因此确保行走的高度稳定性和可靠性是最重要的目标之一。本文提出了一种由前馈动态模式和反馈感觉反射组成的步行控制。动态图案是一种有节奏的周期性运动，满足动态稳定性和地面条件的约束，是在人形模型和环境模型已知的情况下生成的。感觉反射是根据感觉信息进行的简单但快速的运动。我们在本文中提出的感觉反射包括零力矩点反射、着陆阶段反射和身体姿势反射。凭借动态模式和感官反射，类人机器人可以有节奏地行走并适应环境的不确定性。我们提出的方法的有效性通过实际 26 自由度人形机器人的动态模拟和行走实验得到了证实。
Since a biped humanoid inherently suffers from instability and always risks tipping itself over, ensuring high stability and reliability of walk is one of the most important goals. This paper proposes a walk control consisting of a feedforward dynamic pattern and a feedback sensory reflex. The dynamic pattern is a rhythmic and periodic motion, which satisfies the constraints of dynamic stability and ground conditions, and is generated assuming that the models of the humanoid and the environment are known. The sensory reflex is a simple, but rapid motion programmed in respect to sensory information. The sensory reflex we propose in this paper consists of the zero moment point reflex, the landing-phase reflex, and the body-posture reflex. With the dynamic pattern and the sensory reflex, it is possible for the humanoid to walk rhythmically and to adapt itself to the environmental uncertainties. The effectiveness of our proposed method was confirmed by dynamic simulation and walk experiments on an actual 26-degree-of-freedom humanoid.