TY - GEN
T1 - A Trajectory Generation Method for Humanoid Robots Walking
T2 - 2nd World Robot Conference Symposium on Advanced Robotics and Automation, WRC SARA 2019
AU - Guo, Zuhua
AU - Zeng, Yi
AU - Meng, Cai
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/8
Y1 - 2019/8
N2 - From the viewpoint of support force, a new gait planning method for Humanoid robots is discussed. A 3D force-pattern based inverted pendulum model (3D-FPBIPM) is built to generate the trajectory for humanoid walking. In the model, support force of leg of humanoid robots is defined by a parametric force pattern function. A nonlinear optimizer is used to search the parameters online for each step. With a series of optimal support force patterns, a stable COM trajectory at a given walking speed is generated by a Runge-Kutta solver. Stride period of the planned gait is very close to the test data and other researcher's result. The trajectory generated by this method is also compared with the one which is planned by the traditional linear inverted pendulum model. The results show that the proposed method can generate more natural and energy saving walking gait. Finally, the effectiveness of the proposed method is illustrated by simulation examples.
AB - From the viewpoint of support force, a new gait planning method for Humanoid robots is discussed. A 3D force-pattern based inverted pendulum model (3D-FPBIPM) is built to generate the trajectory for humanoid walking. In the model, support force of leg of humanoid robots is defined by a parametric force pattern function. A nonlinear optimizer is used to search the parameters online for each step. With a series of optimal support force patterns, a stable COM trajectory at a given walking speed is generated by a Runge-Kutta solver. Stride period of the planned gait is very close to the test data and other researcher's result. The trajectory generated by this method is also compared with the one which is planned by the traditional linear inverted pendulum model. The results show that the proposed method can generate more natural and energy saving walking gait. Finally, the effectiveness of the proposed method is illustrated by simulation examples.
UR - https://www.scopus.com/pages/publications/85077814202
U2 - 10.1109/WRC-SARA.2019.8931952
DO - 10.1109/WRC-SARA.2019.8931952
M3 - 会议稿件
AN - SCOPUS:85077814202
T3 - WRC SARA 2019 - World Robot Conference Symposium on Advanced Robotics and Automation 2019
SP - 103
EP - 109
BT - WRC SARA 2019 - World Robot Conference Symposium on Advanced Robotics and Automation 2019
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 21 August 2019
ER -