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Paper TuB110.1

Li, Zhibin (Italian Institute of Technology), Tsagarakis, Nikolaos (Istituto Italiano di Tecnologia), Caldwell, Darwin G. (Italian Institute of Technology)

Walking Trajectory Generation for Humanoid Robots with Compliant Joints: Experimentation with COMAN Humanoid

Scheduled for presentation during the Interactive Session "Interactive Session TuB-1" (TuB110), Tuesday, May 15, 2012, 10:30−11:00, Ballroom D

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on December 13, 2017

Keywords Humanoid and Bipedal Locomotion, Humanoid Robots

Abstract

This work introduces a walking pattern generator suitable for humanoids with inherent joint compliance. The proposed walking pattern generator computes the desired center of mass (COM) references on-line based on the COM state feedback. The position and velocity of the COM are the feedback variables, and the constraint ground reaction force (GRF), which is limited by the support polygon, is the control effort to drive the COM states to track the desired ones. The zero moment point (ZMP) is obtained naturally as a result of GRF interaction with robot feet. The proposed COM tracking scheme demands a lower bandwidth from the controller compared to the ZMP tracking schemes. Experimental data of the real compliant humanoid, such as ZMP, COM motion, and GRF are presented to demonstrate the validation of the proposed gait generation method.

 

 

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