Hybrid gait pattern generator capable of rapid and dynamically consistent pattern regeneration

Przemyslaw Kryczka, Petar Kormushev, Kenji Hashimoto, Hun Ok Lim, Nikos G. Tsagarakis, Darwin G. Caldwell, Atsuo Takanishi

研究成果査読

1 被引用数 (Scopus)

抄録

We propose a two-stage gait pattern generation scheme for the full-scale humanoid robots, that considers the dynamics of the system throughout the process. The fist stage is responsible for generating the preliminary motion reference, such as step position, timing and trajectory of Center of Mass (CoM), while the second stage serves as dynamics filter which employs a multi-body model and based on Zero Moment Point (ZMP) reference trajectory generates CoM reference trajectory which defines a locomotion stable when executed on the full-scale multi-degree-of-freedom humanoid robot. The approach thanks to introducing a dynamic model at the stage of feet placement planning provides the ZMP reference, which is ensured to be feasible for the robot. Thanks to the fact it enables instantaneous regeneration of motion. The paper contains description of two approaches used in the first and second stage, as well as experimental results proving the effectiveness of the method. The fast calculation time and the use of the system's dynamic state as initial conditions for pattern generation makes it a good candidate for the real-time gait pattern generator.

本文言語English
ページ475-480
ページ数6
DOI
出版ステータスPublished - 2013 1 1
外部発表はい
イベント2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2013 - Jeju, Korea, Republic of
継続期間: 2013 10 302013 11 2

Conference

Conference2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2013
国/地域Korea, Republic of
CityJeju
Period13/10/3013/11/2

ASJC Scopus subject areas

  • 人工知能
  • 人間とコンピュータの相互作用

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