Trajectory generation and control for a biped robot walking upstairs

被引：0
作者：
Chan-Soo Park
Taesin Ha
Joohyung Kim
Chong-Ho Choi
机构：
[1] Seoul National University,School of Electrical Engineering and Computer Science
[2] Samsung Electronics,undefined
来源：
International Journal of Control, Automation and Systems | 2010年 / 8卷
关键词：
Biped robot; compliance control; humanoid; stair walking; trajectory generation; ZMP;
D O I：
暂无
中图分类号：
学科分类号：
摘要：
This paper presents an effective and systematic trajectory generation method, together with a control method for enabling a biped robot to walk upstairs. The COG (center of gravity) trajectory is generated by the VHIPM (virtual height inverted pendulum mode) for the horizontal motion and by a 6th order polynomial for the vertical motion; an ankle compliance control (ACC) is also added into the robot control. The proposed methods are evaluated by simulations as well as being implemented in a robot for the performance verification. The results show that the proposed methods can generate stable motions when walking upstairs, and these can significantly reduce the zero moment point (ZMP) errors compared with other methods, enabling the robot to walk up steeper stairs.
引用
收藏
页码：339 / 351
页数：12
相关论文
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