Optimal Momentum Compensation with Waist Joint for On-line Biped Gait Generating of Humanoid Robot
In this paper we introduce a method to generate whole bodys linear and angular momentum, and use upper body to compensate for the momentum caused by lowerbody prescribed trajectory for fast dynamic walk of humanoid robot. In this method, the system dynamic model is built with its performance indices, and the optimal momentum compensation(OPMC) is solved by preview control method. Experiments conducted both in simulation and on real robot Kong with a walking motion at the speed of 0.5km/h, proved the effectiveness of our method.
Humanoid robot momentum compensation
Yuanfei Xiang Rong Xiong Yichao Sun Jun Wu Jian Chu
State Key Lab of Industrial Control Technology Zhejiang University Hangzhou, 310027 P.R.China
国际会议
杭州
英文
341-345
2010-10-21（万方平台首次上网日期，不代表论文的发表时间）