Walking Pattern Generation of Dual-arm Mobile Robot

摘要：

The motion planning of dual-arm mobile robot was studied when it was walking on the ground. Adopting the extended task space method, the end-hands tasks and the appendage tasks were stipulated to solve nonlinear equations and got the walking sample. Planning the end-hands trajectory by taking use of 23-2 piecewise polynomial interpolation, and planning the COM(Center Of Mass) trajectory by taking use of preview control. By simulating the dual-arm mobile robots walking on the ground in the virtual environment, the accuracy of trajectory planning method and the walking ability of dual-arm mobile robot were verified.

关键词： walking on the ground dual-arm mobile robot piecewise polynomial interpolation ZMP stability criterion preview control

作者: Wu Peng Wu Weiguo

作者单位: School of Mechatronics Engineering Harbin Institute of Technology Harbin, China

会议类型: 国际会议

会议名称: 2011 International Conference on Information and Industrial Electronics(2011年信息与工业电子国际会议 ICIIE 2011)

会议地点: 成都

会议语种:英文

页码: 103-107

在线出版日期: 2011-01-14（万方平台首次上网日期，不代表论文的发表时间）