2P2-J01 ZMPフィードバック制御によるヒューマノイドロボットの摺足歩行(ヒューマノイド)

概要

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In this paper, we propose two operation methods for a high stable sliding walk at narrow working area and with bad posture by using a humanoid robot. One is a new gravity point movement with Zero Moment Point feedback control. ZMP is a force distribution on the sole of both feet. This method is faster and more stable than our previous methods. The other is sliding forward movements with inverse kinematics in the leg mechanism that is calculated from the position variation of the toe. The experiments in a sliding walk with the humanoid robot HOAP-2 and the evaluations with the lateral position of ZMP and the lateral acceleration variation are shown.
一般社団法人日本機械学会の論文
2011-05-26