Online Walking Control System for Humanoids with Short Cycle Pattern Generation

DOI Web Site 被引用文献5件
  • K. Nishiwaki
    Digital Human Research Center, National Institute of Advanced Industrial Science and Technology (AIST), 2-41-6, Aomi, Koto-ku, Tokyo 135-0064 Japan
  • S. Kagami
    Digital Human Research Center, National Institute of Advanced Industrial Science and Technology (AIST), 2-41-6, Aomi, Koto-ku, Tokyo 135-0064 Japan

書誌事項

公開日
2009-05-20
権利情報
  • https://journals.sagepub.com/page/policies/text-and-data-mining-license
DOI
  • 10.1177/0278364908097883
公開者
SAGE Publications

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<jats:p>The present paper presents an online walking control system that frequently generates and updates dynamically stable motion patterns with a cycle time of 20 ms. We show that frequently updating the motion pattern contributes to maintaining long-term balance while performing online walking control. In addition, the system enables a robot to respond quickly to changes in the commanded walking direction. Using preview control theory, we generate dynamically stable walking patterns. We propose a method to adjust the future desired zero moment point (ZMP) by modifying the foot landing position in order to maintain the dynamic balance of the generated motion pattern. This technique can be used to filter input commands that would result in sudden changes to the foot landing position, which would result in dynamic instability. The method is also used to compensate for errors between the actual and desired ZMP due to disturbances encountered while walking. We also present an extension of the short cycle pattern generation method that can accommodate external forces measured online. Experimental results for activities such as pushing a table are demonstrated on the full-size humanoid HRP-2 to evaluate the performance of the proposed walking control system.</jats:p>

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