Biped walking pattern generator allowing auxiliary ZMP control

被引：119

作者：

Kajita, Shuuji ^{[1
]}

Morisawa, Mitsuharu ^{[1
]}

Harada, Kensuke ^{[1
]}

Kaneko, Kenji ^{[1
]}

Kanehiro, Fumio ^{[1
]}

Fujiwara, Kiyoshi ^{[1
]}

Hirukawa, Hirohisa ^{[1
]}

机构：

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

来源：

2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12 | 2006年

关键词：

D O I：

10.1109/IROS.2006.282233

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

A biped walking pattern generator which allows an additional ZMP control (auxiliary ZMP) is presented. An auxiliary ZMP is realized by an inverse system added to a pattern generator based on the ZMP preview control. To compensate the effect of the auxiliary ZMP, we apply virtual time shifting of the reference ZMP As an application of the proposed method, a walking control on uneven terrain is simulated. The simulated robot can walk successfully by changing its walking speed as the side effect of the auxiliary ZMP control.

引用

页码：2993 / +

页数：2

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