ZMP-based biped running enhanced by toe springs

被引：60
|
作者：
Kajita, Shuuji [1 ]
Kaneko, Kenji [1 ]
Morisawa, Mitsuharu [1 ]
Nakaoka, Shinichiro [1 ]
Hirukawa, Hirohisa [1 ]
机构：
[1] AIST, Intelligent Syst Res Inst, 1-1-1 Umezono, Tsukuba, Ibaraki 3058568, Japan
来源：
PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10 | 2007年
关键词：
D O I：
10.1109/ROBOT.2007.364087
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
We discuss a ZMP-based running pattern generation for a biped robot equipped with toe springs. Our biped robot HRP-2LT has twelve active DoFs for its legs and two passive DoFs for its toes. The trajectory of the center of mass is designed to realize the specified running motion and the foot trajectories are determined to get proper spring action at lift off phases. They are interpreted into joint angles by using the resolved momentum control. By the simulation and the preliminary experiment, it is shown that the toe springs are effectively used for running and hopping.
引用
收藏
页码：3963 / +
页数：2
相关论文
共 50 条
  • [1] ZMP-Based Biped Running Pattern Generation With Contact Transition of Foot
    Shin, Hyeonsik
    Park, Jong Hyeon
    2008 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS, VOLS 1-3, 2008, : 916 - 921
  • [2] ZMP-based biped running control - The HRP-2LR humanoid biped robot
    Kajita, Shuuji
    Nagasaki, Takashi
    Kaneko, Kenji
    Hirukawa, Hirohisa
    IEEE ROBOTICS & AUTOMATION MAGAZINE, 2007, 14 (02) : 63 - 72
  • [3] ZMP-based gait optimization of the biped robot
    Dou, Rui-Jun
    Ma, Pei-Sun
    Xie, Ling
    Journal of Dong Hua University (English Edition), 2003, 20 (04): : 83 - 86
  • [4] ZMP-based Gait Optimization of the Biped Robot
    窦瑞军
    马培荪
    谢玲
    Journal of DongHua University, 2003, (04) : 83 - 86
  • [5] Generalized Learning to Create an Energy Efficient ZMP-Based Walking
    Shafii, Nima
    Lau, Nuno
    Reis, Luis Paulo
    ROBOCUP 2014: ROBOT WORLD CUP XVIII, 2015, 8992 : 583 - 595
  • [6] Robust feedback control of ZMP-based gait for the humanoid robot Nao
    Alcaraz-Jimenez, J. J.
    Herrero-Perez, D.
    Martinez-Barbera, H.
    INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 2013, 32 (9-10): : 1074 - 1088
  • [7] A Simple Feedback Controller to Reduce Angular Momentum in ZMP-Based Gaits
    Jose Alcaraz-Jimenez, Juan
    Herrero-Perez, David
    Martinez-Barbera, Humberto
    INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS, 2013, 10
  • [8] BALANCING CONTROL OF LEG EXOSKELETON USING ZMP-BASED JACOBIAN COMPENSATION
    Aphiratsakun, Narong
    Parnichkun, Manukid
    INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION, 2010, 25 (04): : 359 - 371
  • [9] ZMP-Based Online Jumping Pattern Generation for a One-Legged Robot
    Ugurlu, Barkan
    Kawamura, Atsuo
    IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, 2010, 57 (05) : 1701 - 1709
  • [10] ZMP-based motion planning algorithm for kinematically redundant manipulator standing on the ground
    So, Byung-Rok
    Ryu, HwanTaek
    Yi, Byung-Ju
    INTELLIGENT SERVICE ROBOTICS, 2015, 8 (01) : 35 - 44
12345