Proceedings ArticleDOI
High frequency walking pattern generation based on preview control of ZMP
Koichi Nishiwaki,Satoshi Kagami +1 more
- pp 2667-2672
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TLDR
This paper addresses a dynamically stable humanoid walking pattern generation system that can update the pattern at a short cycle such as 40 [ms] with reflecting the current modified torso position in the system.Abstract:
This paper addresses a dynamically stable humanoid walking pattern generation system that can update the pattern at a short cycle such as 40 [ms]. Frequent update of the pattern enables a robot to reflect change of moving direction and upper body posture with short delay after the change of the command input. It also enables a robot to change the walking pattern according to the change of measurable applied force. Moreover short cycle generation is useful in constructing a system that reflects motion status modified by sensor feedback to the motion generation layer in order to maintain consistency of dynamics. Preview control theory is adopted to decide horizontal torso trajectory that realizes desired ZMP trajectory. The proposed system is implemented on a full-size humanoid HRP-2. Walking pattern is updated at every 40 [ms] with reflecting the current modified torso position in the system. Walking control is successfully carried out by the implemented system. Then an experiment of generating and executing walking pattern while variable force is applied to the hand is shown. The system generates walking pattern reflecting the force sensor information at the wrist while walkingread more
Citations
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Proceedings ArticleDOI
Trajectory Free Linear Model Predictive Control for Stable Walking in the Presence of Strong Perturbations
TL;DR: This work focuses on the problem of compensating strong perturbations of the dynamics of the robot and proposes a new linear model predictive control scheme which is an improvement of the original ZMP preview control scheme.
Proceedings ArticleDOI
Biped walking stabilization based on linear inverted pendulum tracking
Shuuji Kajita,Mitsuharu Morisawa,Kanako Miura,Shin'ichiro Nakaoka,Kensuke Harada,Kenji Kaneko,Fumio Kanehiro,Kazuhito Yokoi +7 more
TL;DR: A novel framework of biped walking stabilization control is introduced and a body posture controller and foot force controllers on the joint position servo of the robot are developed.
Journal ArticleDOI
Online Walking Motion Generation with Automatic Foot Step Placement
TL;DR: The capacity of model predictive control to generate stable walking motions without the use of predefined footsteps is demonstrated and an online walking motion generator that can track a given reference speed of the robot and decide automatically the footstep placement is proposed.
Proceedings ArticleDOI
Online walking gait generation with adaptive foot positioning through Linear Model Predictive control
TL;DR: It is shown that it is possible to allow on top of that a continuous adaptation of the positions of the foot steps, allowing the generation of stable walking gaits even in the presence of strong perturbations.
Journal ArticleDOI
Multicontact Locomotion of Legged Robots
TL;DR: This paper proposes a complete solution relying on a generic template model, based on the centroidal dynamics, able to quickly compute multicontact locomotion trajectories for any legged robot on arbitrary terrains, and is thus not limited by arbitrary assumption.
References
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Proceedings ArticleDOI
Biped walking pattern generation by using preview control of zero-moment point
Shuuji Kajita,Fumio Kanehiro,Kenji Kaneko,Kiyoshi Fujiwara,Kensuke Harada,Kazuhito Yokoi,Hirohisa Hirukawa +6 more
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Proceedings ArticleDOI
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TL;DR: The development of humanoid robot HRP-3 is presented and it is shown that its main mechanical and structural components are designed to prevent the penetration of dust or spray and its wrist and hand are newly designed to improve manipulation.
Proceedings ArticleDOI
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Journal ArticleDOI
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