REAL-TIME AND STABLE WALKING PATTERN GENERATION OF A HUMANOID ROBOT

摘要：

A humanoid robot has a head, a trunk and two arms as compared with the biped robot, so generation of walking pattern is more complex. In this paper, we discuss a method of real-time and stable generation of the motion of legs, arms and trunk. The motion of legs in the sagittal plane must satisfy that x-axis position of ZMP has the largest x-axis stability margin, similarly, the motion of legs in the lateral plane must satisfy that y-axis position of ZMP has the largest y-axis stability margin. The motion of arms and trunk are generated based on equilibrium of z-axis moment. The effectiveness of the proposed method is confirmed by the results of simulation.

关键词： humanoid robot stability walking pattern generation

作者: ZhangTong Nanfeng Xiao

作者单位: School of Computer Science & Engineering,South China University of technology,China;Dept of Computer Dept of Computer GuangDong Police Officers College,510230,China.

会议类型: 国际会议

会议名称: 2008年拟人系统国际会议(2008 International Conference on Humanized Systems )(ICHS’08)

会议地点: 北京

会议语种:英文

在线出版日期: 2008-10-18（万方平台首次上网日期，不代表论文的发表时间）