Biped walking pattern generation by using preview control of zero-moment point

被引：810

作者：

Kajita, S ^{[1
]}

Kanehiro, F ^{[1
]}

Kaneko, K ^{[1
]}

Fujiwara, K ^{[1
]}

Harada, K ^{[1
]}

Yokoi, K ^{[1
]}

Hirukawa, H ^{[1
]}

机构：

[1] Natl Inst Adv Ind Sci & Technol, AIST, Tsukuba, Ibaraki 3058568, Japan

来源：

2003 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-3, PROCEEDINGS | 2003年

关键词：

D O I：

10.1109/robot.2003.1241826

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

We introduce a new method of a biped walking pattern generation by using a preview control of the zero-moment point (ZMP). First, the dynamics of a biped robot is modeled as a running cart on a table which gives a convenient representation to treat ZMP. After reviewing conventional methods of ZMP based pattern generation, we formalize the problem as the design of a ZMP tracking servo controller. It is shown that we can realize such controller by adopting the preview control theory that uses the future reference. It is also shown that a preview controller can be used to compensate the ZMP error caused by the difference between a simple model and the precise multibody model. The effectiveness of the proposed method is demonstrated by a simulation of walking on spiral stairs.

引用

页码：1620 / 1626

页数：7

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