予見軌道の修正指標マップを用いたヒューマノイドロボットの緊急停止動作(機械力学,計測,自動制御)

概要

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A new real-time emergent stop method using modification criteria map is proposed for humanoid robots. The stable gait change is generated by adjusting the amount of the reference ZMP modification according to the timing of stop command. The modified ZMP trajectory is given so that the humanoid robot can change the current motion without falling down. The modification criteria are defined from the relation between the predicted ZMP trajectory using a preview controller and the support polygon. We make the map of relation among the reference ZMP modification length, the modification of step timing and the timing of the stop command for stable stop motion. The robot can execute the best stop motion referring to the predefined map. The validity of the proposed method is confirmed by experiments using a humanoid robot HRP-2.
2009-11-25