RUNNING PATTERN GENERATION OF HUMANOID BIPED WITH A FIXED POINT AND ITS REALIZATION

Cited 7 time in webofscience Cited 0 time in scopus
  • Hit : 350
  • Download : 0
This paper discusses the generation of a running pattern for a humanoid biped and verifies the validity of the proposed method of running pattern generation via experiments. Two running patterns are generated independently in the sagittal plane and in the frontal plane and the two patterns are then combined. When a running pattern is created with resolved momentum control in the sagittal plane, the angular momentum of the robot about the Center of Mass (COM) is set to zero, as the angular momentum causes the robot to rotate. However, this also induces unnatural motion of the upper body of the robot. To solve this problem, the biped was set as a virtual under-actuated robot with a free joint at its support ankle, and a fixed point for a virtual under-actuated system was determined. Following this, a periodic running pattern in the sagittal plane was formulated using the fixed point. The fixed point is easily determined in a numerical approach. In this way, a running pattern in the frontal plane was also generated. In an experiment, a humanoid biped known as KHR-2 ran forward using the proposed running pattern generation method. Its maximum velocity was 2.88 km/h.
Publisher
WORLD SCIENTIFIC PUBL CO PTE LTD
Issue Date
2009-12
Language
English
Article Type
Article
Citation

INTERNATIONAL JOURNAL OF HUMANOID ROBOTICS, v.6, no.4, pp.631 - 656

ISSN
0219-8436
DOI
10.1142/S0219843609001930
URI
http://hdl.handle.net/10203/99070
Appears in Collection
ME-Journal Papers(저널논문)
Files in This Item
There are no files associated with this item.
This item is cited by other documents in WoS
⊙ Detail Information in WoSⓡ Click to see webofscience_button
⊙ Cited 7 items in WoS Click to see citing articles in records_button

qr_code

  • mendeley

    citeulike


rss_1.0 rss_2.0 atom_1.0