scholarly journals A Walking Pattern Generation Method for Humanoid Robots Using Least Square Method and Quartic Polynomial

10.5772/6725 ◽  
2009 ◽  
Author(s):  
Seokmin Hong ◽  
Yonghwan Oh ◽  
Young-Hwan Chang ◽  
Bum-Jae You
Keyword(s):  
Least Square Method ◽  
Humanoid Robots ◽  
Pattern Generation ◽  
Least Square ◽  
Walking Pattern ◽  
Quartic Polynomial ◽  
Walking Pattern Generation

A generic walking pattern generation method for humanoid robot walking on the slopes

2016 ◽  
Vol 43 (3) ◽  
pp. 317-327 ◽  
Author(s):  
Fayong Guo ◽  
Tao Mei ◽  
Marco Ceccarelli ◽  
Ziyi Zhao ◽  
Tao Li ◽  
...  
Keyword(s):  
Humanoid Robot ◽  
Inverted Pendulum ◽  
Humanoid Robots ◽  
3D Models ◽  
Pattern Generation ◽  
Motion Equations ◽  
Content Type ◽  
Walking Pattern ◽  
Landing Impact ◽  
Walking Pattern Generation

Purpose Walking on inclined ground is an important ability for humanoid robots. In general, conventional strategies for walking on slopes lack technical analysis in, first, the waist posture with respect to actual robot and, second, the landing impact, which weakens the walking stability. The purpose of this paper is to propose a generic method for walking pattern generation considering these issues with the aim of enabling humanoid robot to walk dynamically on a slope. Design/methodology/approach First, a virtual ground method (VGM) is proposed to give a continuous and intuitive zero-moment point (ZMP) on slopes. Then, the dynamic motion equations are derived based on 2D and 3D models, respectively, by using VGM. Furthermore, the waist posture with respect to the actual robot is analyzed. Finally, a reformative linear inverted pendulum (LIP) named the asymmetric linear inverted pendulum (ALIP) is proposed to achieve stable and dynamical walking in any direction on a slope with lower landing impact. Findings Simulations and experiments are carried out using the DRC-XT humanoid robot platform with the aim of verifying the validity and feasibility of these new methods. ALIP with consideration of waist posture is practical in extending the ability of walking on slopes for humanoid robots. Originality/value A generic method called ALIP for humanoid robots walking on slopes is proposed. ALIP is based on LIP and several changes, including model analysis, motion equations and ZMP functions, are discussed.

Sign in / Sign up

Export Citation Format

Share Document