将来にわたるZMP許容領域を考慮したオンライン2足歩行軌道生成法
スポンサーリンク
概要
- 論文の詳細を見る
The present paper describes a newly proposed method of planning the CoM trajectory that realizes the desired ZMP. We introduce the permissible ZMP region as well as the desired ZMP trajectory. When the robot suffers from disturbances, the ZMP trajectory desired in the future is adjusted and the future permissible region is used evenly in order to suppress the change of the ZMP at the moment of disturbance. The proposed method is based on the CoM trajectory generation method that uses preview control theory. Simulation results reveal the feasibility of the proposed method. The proposed method is then implemented as a part of walking control system of HRP-2, which generates a walking pattern that starts from the estimated actual robot motion at 40 [Hz]. Walking experiments on unknown terrain are conducted in order to demonstrate the performance of the proposed method.
著者
関連論文
- 天井設置型マイクロホンアレイと移動ロボットによる家庭内サービスロボットシステム
- ヒューマノイドのための短周期オンライン歩行軌道生成更新法
- 推定絶対運動状態を始点とする短周期軌道生成を用いたヒューマノイドの不整地適応歩行制御
- 将来にわたるZMP許容領域を考慮したオンライン2足歩行軌道生成法
- 将来にわたるZMP許容領域を考慮したオンライン2足歩行軌道生成法