Realization of On-line Trajectory Generation Based on Two-computer System of Humanoid Robot BHR-02

摘要：

This paper proposed a method of realizing online trajectory generation based on two-computer system of humanoid robot BHR-02. The trajectory generation is based on key parameters of off-line typical walk patterns for a biped humanoid. The computer system includes motion control computer, Memolink, and vision computer. We designed the distributed architecture and realization software including online trajectory generation module and motion control module, which can reduce computation burden of motion control computer and occupy less memory, change gait online and satisfy the demand of real time capability. The effectiveness of the proposed method is confirmed by experiments with our developed humanoid robot with 32 DOFs.

关键词： Online trajectory generation Humanoid robot Key parameters two-computer system

作者: Shusheng LV Qiang HUANG You SHI Chenchen LI Kejie LI

作者单位: Department of Mechatronic Engineering Beijing Institute of Technology 5 Nandajie, Zhongguancun, Haidian, Beijing, China, 100081

会议类型: 国际会议

会议名称: 2006 IEEE International Conference on Information Acquisition

会议地点: 山东威海

会议语种:英文

页码: 677-682

在线出版日期: 2006-08-20（万方平台首次上网日期，不代表论文的发表时间）