Arbitrary Trajectory Foot Planner for Bipedal Walking

被引：3
|
作者：
Khusainov, Ramil [1 ]
Sagitov, Artur [2 ]
Klimchik, Alexandr [1 ]
Magid, Evgeni [2 ]
机构：
[1] Innopolis Univ, Intelligent Robot Syst Lab, Innopolis City, Russia
[2] Kazan Fed Univ, Higher Inst Informat Technol & Informat Syst, Kazan, Russia
来源：
ICINCO: PROCEEDINGS OF THE 14TH INTERNATIONAL CONFERENCE ON INFORMATICS IN CONTROL, AUTOMATION AND ROBOTICS - VOL 2 | 2017年
关键词：
Foot Planner; Zero Moment Point; Preview Control; PREVIEW CONTROL;
D O I：
10.5220/0006442504170424
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 presents a foot planner algorithm for bipedal walking along an arbitrary curve. It takes a parametrically defined desired path as an input and calculates feet positions and orientations at each step. Number of steps that are required to complete the path depends on a maximum step length and maximum foot rotation angle at each step. Provided with results of the foot planner, our walking engine successfully performs robot locomotion. Verification tests were executed with AR601M humanoid robot.
引用
收藏
页码：417 / 424
页数：8
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