Motion Planning for Humanoid Robot Based on a New Stability Evaluation Technique
Stability balance is a very important issue of the motion planning humanoid robot. Theoretically, the motion which has the higher stability is more stable, so how to evaluate the stability is very important in the motion planning for humanoid robot. Some researchers have proposed stability evaluation method based on ZMP, the stability margin is used to evaluate the stability, however these method can just evaluate the stability of one kind of motion which have the same step length, that is to say the stable region should be the same. This paper proposed a new stability evaluation technique which can evaluate the stability between different walking, the stable region of which are different. The effectiveness of the proposed method is confirmed by simulations and experiments with our developed humanoid robot with 32 DOF.
Stability evaluation ZMP Humanoid robot Motion planning
Zhaoqin Peng Yongling Fu Zhiyong Tang Qiang Huang
School of Automation Science and Electrical Engineering Beijing University of aeronautics and astron School of Mechatronic Engineering Beijing Institute of Technology Beijing, China
国际会议
2006 IEEE International Conference on Information Acquisition
山东威海
英文
689-694
2006-08-20（万方平台首次上网日期，不代表论文的发表时间）