Integrated motion control for walking, jumping and running on a small bipedal entertainment robot

被引：138

作者：

Nagasaka, K ^{[1
]}

Kuroki, Y ^{[1
]}

Suzuki, S ^{[1
]}

Itoh, Y ^{[1
]}

Yamaguchi, J ^{[1
]}

机构：

[1] Sony Corp, Minato Ku, Tokyo 1050004, Japan

来源：

2004 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1- 5, PROCEEDINGS | 2004年

关键词：

D O I：

10.1109/ROBOT.2004.1308745

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 proposes the integrated motion control method to make a bipedal humanoid walk, jump and run. This method generates dynamically consistent motion patterns in real-time based on the concept of dynamics filter, which assures that the force and the moment generated by the robot can equilibrate with those acted by the environment. The validity of the algorithm is verified by the dynamic simulation. The proposed method is applied to the real humanoid "QRIO" under the adaptive control, and the stable walking, jumping and running including the transitions between them are realized.

引用

页码：3189 / 3194

页数：6

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