Real Time Motion Generation and Control for Biped Robot-4th Report: Integrated Balance Control

被引：53

作者：

Takenaka, Toni ^{[1
]}

Matsumoto, Takashi ^{[1
]}

Yoshiike, Takahide ^{[1
]}

Hasegawa, Tadaaki ^{[1
]}

Shirokura, Shinya ^{[1
]}

Kaneko, Hiroyuki ^{[1
]}

Orita, Atsuo ^{[1
]}

机构：

[1] Honda Res & Dev, Fundamental Res Ctr, Wako, Saitama, Japan

来源：

2009 IEEE-RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS | 2009年

关键词：

D O I：

10.1109/IROS.2009.5354522

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

A controller for biped running has to consider varying vertical ground reaction force while satisfying the horizontal ground reaction force and moment limits. We propose a design technique for feedback gains to stabilize the upper body position under varying vertical ground reaction force. We also propose an extended model ZMP control method which uses horizontal and rotational acceleration of the upper body and step duration change to generate moments to handle disturbances too large to be handled by ground reaction force control. Combining these techniques, robust biped running is achieved.

引用

页码：1601 / 1608

页数：8