Preview Control applied for humanoid robot motion generation

被引：5
|
作者：
Szumowski, Maksymilian [1 ]
Zurawska, Magdalena Sylwia [1 ]
Zielinska, Teresa [1 ]
机构：
[1] Warsaw Univ Technol, Fac Power & Aeronaut Engn, Nowowiejska 24 Str, Warsaw, Poland
来源：
ARCHIVES OF CONTROL SCIENCES | 2019年 / 29卷 / 01期
关键词：
motion generation; humanoid robot; Preview Control; Extended Cart-Table model; off-line method; WALKING;
D O I：
10.24425/acs.2019.127526
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper presents a concept of humanoid robot motion generation using the dedicated simplified dynamic model of the robot (Extended Cart-Table model). Humanoid robot gait with equal steps length is considered. Motion pattern is obtained here with use of Preview Control method. Motion trajectories are first obtained in simulations (off-line) and then they are verified on a test-bed. Tests performed using the real robot confirmed the correctness of the method. Robot completed a set of steps without losing its balance.
引用
收藏
页码：111 / 132
页数：22
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