TY - GEN
T1 - A real-time control method for humanoid robot to walk stably on uneven ground
AU - Shuai, Mei
AU - Fu, Chenglong
AU - Chen, Ken
PY - 2006
Y1 - 2006
N2 - To solve the problem that a humanoid robot is prone to tip over while walking on uneven ground, this paper presents an online regulating control algorithm based on the Kane collision theory. The algorithm, which introduces a new physical quantity named "generalized speed", can reduce second-order differential equation to first-order ordinary differential equation, and shorten the time of calculation. We adopt the offline gait pattern generated by Lagrange dynamic model to control the humanoid walking on level ground. When the robot lands on uneven ground surfaces, we first calculate the foot impact force using the Kane regulating algorithm and then use this information to adjust the gait of the legs and the torso in order to ensure a stable walk on the uneven ground. The effectiveness of the proposed algorithm was verified by walking simulations on a 5-link humanoid model under the Matlab/Simulink environment.
AB - To solve the problem that a humanoid robot is prone to tip over while walking on uneven ground, this paper presents an online regulating control algorithm based on the Kane collision theory. The algorithm, which introduces a new physical quantity named "generalized speed", can reduce second-order differential equation to first-order ordinary differential equation, and shorten the time of calculation. We adopt the offline gait pattern generated by Lagrange dynamic model to control the humanoid walking on level ground. When the robot lands on uneven ground surfaces, we first calculate the foot impact force using the Kane regulating algorithm and then use this information to adjust the gait of the legs and the torso in order to ensure a stable walk on the uneven ground. The effectiveness of the proposed algorithm was verified by walking simulations on a 5-link humanoid model under the Matlab/Simulink environment.
KW - Control strategy
KW - Humanoid robot
KW - Kane collision theory
KW - Walking on uneven ground
UR - https://www.scopus.com/pages/publications/34547258804
U2 - 10.1109/RAMECH.2006.252687
DO - 10.1109/RAMECH.2006.252687
M3 - 会议稿件
AN - SCOPUS:34547258804
SN - 1424400244
SN - 9781424400249
T3 - 2006 IEEE Conference on Robotics, Automation and Mechatronics
BT - 2006 IEEE Conference on Robotics, Automation and Mechatronics
T2 - 2006 IEEE Conference on Robotics, Automation and Mechatronics
Y2 - 7 June 2006 through 9 June 2006
ER -