Motion control strategy for humanoid robot MIH-1

Jing Pan; Jianbo Su; Xusheng Lei; Feng Lan

Motion control strategy for humanoid robot MIH-1

Jing Pan^*
, Jianbo Su
, Xusheng Lei
, Feng Lan

^*Corresponding author for this work

Shanghai Jiao Tong University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

In this paper, we focus on the problem of stabilizing a humanoid robot on a complete walking cycle in 3D space. Based on the analysis of passive dynamic walking and mechanical energy consumption, we propose a strategy to drive a 26-DOF humanoid robot during two fundamental phases: swing-phase and impact-phase. The ZMP condition and other factors on the active walker are taken into account. Furthermore spring-phase, a standard procedure appearing only in the running cycle with both legs in the air, is discussed to prepare for the conversion-from walk to run.

Original language	English
Title of host publication	IEEE International Conference on Mechatronics and Automation, ICMA 2005
Pages	819-824
Number of pages	6
State	Published - 2005
Externally published	Yes
Event	IEEE International Conference on Mechatronics and Automation, ICMA 2005 - Niagara Falls, ON, Canada Duration: 29 Jul 2005 → 1 Aug 2005

Publication series

Name	IEEE International Conference on Mechatronics and Automation, ICMA 2005

Conference

Conference	IEEE International Conference on Mechatronics and Automation, ICMA 2005
Country/Territory	Canada
City	Niagara Falls, ON
Period	29/07/05 → 1/08/05

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 7 Affordable and Clean Energy

Keywords

Constrained motion
Gait generation
Humanoid robot
Passive dynamic walking

Cite this

@inproceedings{f2577357876d41f08ec20495d09fabe8,

title = "Motion control strategy for humanoid robot MIH-1",

abstract = "In this paper, we focus on the problem of stabilizing a humanoid robot on a complete walking cycle in 3D space. Based on the analysis of passive dynamic walking and mechanical energy consumption, we propose a strategy to drive a 26-DOF humanoid robot during two fundamental phases: swing-phase and impact-phase. The ZMP condition and other factors on the active walker are taken into account. Furthermore spring-phase, a standard procedure appearing only in the running cycle with both legs in the air, is discussed to prepare for the conversion-from walk to run.",

keywords = "Constrained motion, Gait generation, Humanoid robot, Passive dynamic walking",

author = "Jing Pan and Jianbo Su and Xusheng Lei and Feng Lan",

year = "2005",

language = "英语",

isbn = "0780390458",

series = "IEEE International Conference on Mechatronics and Automation, ICMA 2005",

pages = "819--824",

booktitle = "IEEE International Conference on Mechatronics and Automation, ICMA 2005",

note = "IEEE International Conference on Mechatronics and Automation, ICMA 2005 ; Conference date: 29-07-2005 Through 01-08-2005",

}

TY - GEN

T1 - Motion control strategy for humanoid robot MIH-1

AU - Pan, Jing

AU - Su, Jianbo

AU - Lei, Xusheng

AU - Lan, Feng

PY - 2005

Y1 - 2005

N2 - In this paper, we focus on the problem of stabilizing a humanoid robot on a complete walking cycle in 3D space. Based on the analysis of passive dynamic walking and mechanical energy consumption, we propose a strategy to drive a 26-DOF humanoid robot during two fundamental phases: swing-phase and impact-phase. The ZMP condition and other factors on the active walker are taken into account. Furthermore spring-phase, a standard procedure appearing only in the running cycle with both legs in the air, is discussed to prepare for the conversion-from walk to run.

AB - In this paper, we focus on the problem of stabilizing a humanoid robot on a complete walking cycle in 3D space. Based on the analysis of passive dynamic walking and mechanical energy consumption, we propose a strategy to drive a 26-DOF humanoid robot during two fundamental phases: swing-phase and impact-phase. The ZMP condition and other factors on the active walker are taken into account. Furthermore spring-phase, a standard procedure appearing only in the running cycle with both legs in the air, is discussed to prepare for the conversion-from walk to run.

KW - Constrained motion

KW - Gait generation

KW - Humanoid robot

KW - Passive dynamic walking

UR - https://www.scopus.com/pages/publications/27744515026

M3 - 会议稿件

AN - SCOPUS:27744515026

SN - 0780390458

T3 - IEEE International Conference on Mechatronics and Automation, ICMA 2005

SP - 819

EP - 824

BT - IEEE International Conference on Mechatronics and Automation, ICMA 2005

T2 - IEEE International Conference on Mechatronics and Automation, ICMA 2005

Y2 - 29 July 2005 through 1 August 2005

ER -

Motion control strategy for humanoid robot MIH-1

Abstract

Publication series

Conference

UN SDGs

Keywords

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