Motion planning for humanoid robot based on a new stability evaluation technique

Zhaoqin Peng; Yongling Fu; Zhiyong Tang; Qiang Huang

doi:10.1109/ICIA.2006.305810

Motion planning for humanoid robot based on a new stability evaluation technique

Zhaoqin Peng^*, Yongling Fu, Zhiyong Tang, Qiang Huang

^*Corresponding author for this work

School of Mechatronical Engineering

Beihang University

Research output: Contribution to conference › Paper › peer-review

Abstract

Stability balance is a very important issue of the motion planning humanoid robot. Theoretically, the motion which has the higher stability is more stable, so how to evaluate the stability is very important in the motion planning for humanoid robot. Some researchers have proposed stability evaluation method based on ZMP, the stability margin is used to evaluate the stability, however these method can just evaluate the stability of one kind of motion which have the same step length, that is to say the stable region should be the same. This paper proposed a new stability evaluation technique which can evaluate the stability between different walking, the stable region of which are different. The effectiveness of the proposed method is confirmed by simulations and experiments with our developed humanoid robot with 32 DOF.

Original language	English
Pages	689-694
Number of pages	6
DOIs	https://doi.org/10.1109/ICIA.2006.305810
Publication status	Published - 2006
Event	2006 IEEE International Conference on Information Acquisition, ICIA 2006 - Weihai, Shandong, China Duration: 20 Aug 2006 → 23 Aug 2006

Conference

Conference	2006 IEEE International Conference on Information Acquisition, ICIA 2006
Country/Territory	China
City	Weihai, Shandong
Period	20/08/06 → 23/08/06

Keywords

Humanoid robot
Motion planning
Stability evaluation
ZMP

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10.1109/ICIA.2006.305810

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title = "Motion planning for humanoid robot based on a new stability evaluation technique",

abstract = "Stability balance is a very important issue of the motion planning humanoid robot. Theoretically, the motion which has the higher stability is more stable, so how to evaluate the stability is very important in the motion planning for humanoid robot. Some researchers have proposed stability evaluation method based on ZMP, the stability margin is used to evaluate the stability, however these method can just evaluate the stability of one kind of motion which have the same step length, that is to say the stable region should be the same. This paper proposed a new stability evaluation technique which can evaluate the stability between different walking, the stable region of which are different. The effectiveness of the proposed method is confirmed by simulations and experiments with our developed humanoid robot with 32 DOF.",

keywords = "Humanoid robot, Motion planning, Stability evaluation, ZMP",

author = "Zhaoqin Peng and Yongling Fu and Zhiyong Tang and Qiang Huang",

year = "2006",

doi = "10.1109/ICIA.2006.305810",

language = "English",

pages = "689--694",

note = "2006 IEEE International Conference on Information Acquisition, ICIA 2006 ; Conference date: 20-08-2006 Through 23-08-2006",

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T1 - Motion planning for humanoid robot based on a new stability evaluation technique

AU - Peng, Zhaoqin

AU - Fu, Yongling

AU - Tang, Zhiyong

AU - Huang, Qiang

PY - 2006

Y1 - 2006

N2 - Stability balance is a very important issue of the motion planning humanoid robot. Theoretically, the motion which has the higher stability is more stable, so how to evaluate the stability is very important in the motion planning for humanoid robot. Some researchers have proposed stability evaluation method based on ZMP, the stability margin is used to evaluate the stability, however these method can just evaluate the stability of one kind of motion which have the same step length, that is to say the stable region should be the same. This paper proposed a new stability evaluation technique which can evaluate the stability between different walking, the stable region of which are different. The effectiveness of the proposed method is confirmed by simulations and experiments with our developed humanoid robot with 32 DOF.

AB - Stability balance is a very important issue of the motion planning humanoid robot. Theoretically, the motion which has the higher stability is more stable, so how to evaluate the stability is very important in the motion planning for humanoid robot. Some researchers have proposed stability evaluation method based on ZMP, the stability margin is used to evaluate the stability, however these method can just evaluate the stability of one kind of motion which have the same step length, that is to say the stable region should be the same. This paper proposed a new stability evaluation technique which can evaluate the stability between different walking, the stable region of which are different. The effectiveness of the proposed method is confirmed by simulations and experiments with our developed humanoid robot with 32 DOF.

KW - Humanoid robot

KW - Motion planning

KW - Stability evaluation

KW - ZMP

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DO - 10.1109/ICIA.2006.305810

M3 - Paper

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SP - 689

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T2 - 2006 IEEE International Conference on Information Acquisition, ICIA 2006

Y2 - 20 August 2006 through 23 August 2006

ER -

Motion planning for humanoid robot based on a new stability evaluation technique

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