A Walking Pattern Generator for Biped Robots on Uneven Terrains

被引：0

作者：

Zheng, Yu ^{[1
]}

Lin, Ming C. ^{[1
]}

Manocha, Dinesh ^{[1
]}

Adiwahono, Albertus Hendrawan ^{[2
]}

Chew, Chee-Meng ^{[2
]}

机构：

[1] Univ N Carolina, Dept Comp Sci, Chapel Hill, NC 27599 USA

[2] Natl Univ Singapore, Dept Mech Engn, Singapore 117576, Singapore

来源：

IEEE/RSJ 2010 INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2010) | 2010年

基金：

美国国家科学基金会;

关键词：

HUMANOID ROBOTS; LEGGED ROBOTS; PREVIEW CONTROL; ZMP;

D O I：

暂无

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

We present a new method to generate biped walking patterns for biped robots on uneven terrains. Our formulation uses a universal stability criterion that checks whether the resultant of the gravity wrench and the inertia wrench of a robot lies in the convex cone of the wrenches resulting from contacts between the robot and the environment. We present an algorithm to compute the feasible acceleration of the robot's CoM (center of mass) and use that algorithm to generate biped walking patterns. Our approach is more general and applicable to uneven terrains as compared with prior methods based on the ZMP (zero-moment point) criterion. We highlight its applications on some benchmarks.

引用

页数：6

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