2A2-D16 On-line Controlling Algorithm for Quadratic System : Application to Generate Dynamically Stable Walking Patterns for Humanoid Robots

概要

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The approximation of humanoid robot by an inverted pendulum is one of the most used model to generate a stable walking motion using a planned Zero Moment Point (ZMP) trajectory. Many studies have been carried out to improve the reliability of this model. One of the proposed models is the quadratic system model, which has been validated by conducting real experiments on the humanoid robot. In this paper, we propose on-line controlling algorithm for the quadratic system. In order to validate this algorithm, dynamically stable walking patterns have been generated. The stability and feasibility of walking patterns have been confirmed using dynamical simulation and conducting real experiments on the humanoid robot HRP-4C.
一般社団法人日本機械学会の論文