NDLI: A walking pattern generation method of humanoid robot MAHRU-R

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A walking pattern generation method of humanoid robot MAHRU-R

Content Provider	Springer Nature Link
Author	Hong, Seokmin Oh, Yonghwan You, Bum Jae Oh, Sang Rok
Copyright Year	2009
Abstract	This paper proposes an omni-directional walking pattern generation method for a humanoid robot MAHRU-R. To walk stably without falling down, a humanoid robot needs the walking pattern. Our previous walking pattern method generated the walking pattern with linear polynomials of the zero moment point (ZMP). It implemented the simple walking like forward/backward walking, side step walking and turning. However, this method was not sufficient to satisfy the various walking which is combined by forward/backward walking, side step walking and turning. We needed to upgrade the walking pattern generation method to implement an omni-directional walking. We use the linear inverted pendulum model consisted of ZMP and center of mass in order to simplify the computation of walking pattern. The proposed method assumes that the state of the following stride is same to the state of the current stride. Using this assumption of walking pattern, the proposed method generates the stable walking pattern for various walking. And the proposed scheme generates the ZMP trajectory with the quartic polynomials in order to reduce the fluctuation of ZMP trajectory by various walking. To implement the efficient walking pattern, this method proposes three walking modules: periodic step module, transient step module and steady step module. Each step module utilizes weighted least square method with future ZMP position information. The effectiveness of the proposed method is verified by simulations of various walking. And the proposed method is confirmed by the experiment of real humanoid robot MAHRU-R.
Starting Page	161
Ending Page	171
Page Count	11
File Format	PDF
ISSN	18612776
Journal	Intelligent Service Robotics
Volume Number	2
Issue Number	3
e-ISSN	18612784
Language	English
Publisher	Springer-Verlag
Publisher Date	2009-05-06
Publisher Place	Berlin, Heidelberg
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	Humanoid robot Walking pattern generation Vibration, Dynamical Systems, Control User Interfaces and Human Computer Interaction Artificial Intelligence (incl. Robotics) Control Robotics Mechatronics
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Mechanical Engineering Computational Mechanics

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