(A) study on the realization of dynamic running for a humanoid biped

Abstract

The objective of this dissertation is the realization of running for humanoid biped having a flat-foot mechanism. For this objective, it is proposed that a running pattern generation method in off-line and designing controllers in on-line. To generate a running pattern of a humanoid biped easily, a running pattern is generated in three ways; in the sagittal, frontal, and horizontal planes. Running pattern in the sagittal plane has to be dynamically periodic. But, since the robot has the flying phase when it hops or runs, it is difficult to generate a dynamically periodic running pattern. Therefore, a kinematical periodic pattern is generated first and then a dynamical periodic pattern is created by modifying the ankle trajectories of the previous kinematical periodic pattern. A kinematical periodic running pattern can be made various methods, but the modified resolved momentum control (Modified RMC) is used in this research. Also, a real humanoid biped which is included in a flat-foot mechanism is assumed as a virtual point-foot mechanism which of ankle joints are free. And, a dynamical periodic pattern is calculated by making a Poincare Map of the virtual point-foot mechanism during 1 step running and finding a fixed point of it. Finally, a dynamical periodic running pattern in the sagittal plane is generated by applying the pattern of the virtual point-foot mechanism. A dynamical periodic running pattern in the frontal plane is generated by the identical procedure. And, a trunk pattern in the horizontal plane is generated to eliminate the angular momentum which is caused by the movement of both legs. Though a dynamical periodic running pattern is generated, various controllers are needed to make a stable running of humanoid biped. Therefore, designs of a posture balance controller in the sagittal plane, a transient balance controller in the frontal plane, a swing ankle compensator in the sagittal plane, and a landing position controller are proposed. Fi...