On-line Trajectory Generation for a Humanoid Robot Based on Combination of Off-line Patterns

摘要：

When a humanoid robot moves in an actual working environment, it is necessary for the robot to generate appropriate locomotion trajectory in real-time to ensure its stability. But it is difficult to solve nonlinear differential equations of stability constraints in real-time to get stable locomotion trajectory. This paper proposed a method to generate stable and smooth locomotion trajectory through linking basic off-line patterns together considering stability constraints. These basic locomotion patterns include forward walk, turn-about, standstill, mark time, etc. In order to move and adapt to different route circumstance, the robot makes a selection of one basic pattern which can be link with the current locomotion pattern according to stability constraints and route requirements. We adopt spline interpolation to link current pattern and newly selected pattern for generating smooth trajectory. The effectiveness of the proposed method was confirmed by experiments on our newly developed humanoid robot.

关键词： On-line trajectory generation Humanoid robot Off-line pattern Stability constraint

作者: Zhangguo YU Qiang HUANG Xuechao CHEN Wei XU Ging LI Kejie LI

作者单位: Intelligent Robotics Institute,School of Mechatronical Engineering,Beijing Institute of Technology 5 Intelligent Robotics Institute,School of Mechatronical Engineering,Beijing Institute of Technology 5

会议类型: 国际会议

会议名称: 2009 IEEE International Conference on Information and Automation(2009年 IEEE信息与自动化国际学术会议)

会议地点: 珠海、澳门

会议语种:英文

页码: 84-89

在线出版日期: 2009-06-22（万方平台首次上网日期，不代表论文的发表时间）