NDLI: Humanoids walk with feedforward dynamic pattern and feedback sensory reflection

Content Provider	IEEE Xplore Digital Library
Author	Qiang Huang Nakamura, Y. Inamura, T.
Copyright Year	2001
Description	Author affiliation: Dept. of Mechatronics, Beijing Inst. of Technol., China (Qiang Huang)
Abstract	Since a biped humanoid inherently suffers from instability and always risks tipping over, ensuring high stability and reliability of walking is one of the most important goals. The paper proposes a walk control consisting of a feedforward dynamic pattern and a feedback sensory reflex. The dynamic pattern is a rhythmic and periodic motion, which satisfies the constraints of dynamic stability and ground conditions, and is generated assuming that the models of the humanoid and the environment are known. The sensory reflex is a simple, but rapid motion programmed with respect to sensory information. The sensory reflex, we propose, consists of the body posture control, the actual ZMP (zero moment point) control, and the landing time control. With the dynamic pattern and the sensory reflex, it is possible for the humanoid to walk rhythmically and to adapt itself to environmental uncertainties. The effectiveness of our proposed method was confirmed by walk experiments of an actual 26 DOF humanoid on an unknown rough terrain and in the presence of disturbances.
Sponsorship	IEEE Robotics & Autom. Soc
Starting Page	4220
Ending Page	4225
File Size	716463
Page Count	6
File Format	PDF
ISBN	0780365763
ISSN	10504729
DOI	10.1109/ROBOT.2001.933277
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2001-05-21
Publisher Place	South Korea
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Feedback Reflection Humans Biological system modeling Humanoid robots Legged locomotion Mechatronics Stability Uncertainty Aging
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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