TY - GEN
T1 - Humanoid walk control with feedforward dynamic pattern and feedback sensory reflection
AU - Huang, Qiang
AU - Li, Kejie
AU - Nakamura, Yoshihiko
N1 - Publisher Copyright:
© 2001 IEEE.
PY - 2001
Y1 - 2001
N2 - Since a biped humanoid inherently suffers from instability and always risks itself to tipping over, ensuring high stability and reliability of walk is one of the most important goals. This paper proposes a walk control consisting of a feedforward dynamic pattern and a feedback sensory reflex. The dynamic pattern is a rhythmic and periodic motion, which satisfies the constraints of dynamic stability and ground conditions, and is generated assuming that the models of the humanoid and the environment are known. The sensory reflex is a simple, but rapid motion programmed in respect to sensory information. The sensory reflex, we propose in this paper, consists of the body posture control, the actual ZMP (Zero Moment Point) control, and the landing time control. With the dynamic pattern and the sensory reflex, it is possible for the humanoid to walk rhythmically and to adapt itself to environmental uncertainties. The effectiveness of our proposed method was confirmed by walk experiments of an actual 26 DOF humanoid on an unknown rough terrain and in the presence of disturbances.
AB - Since a biped humanoid inherently suffers from instability and always risks itself to tipping over, ensuring high stability and reliability of walk is one of the most important goals. This paper proposes a walk control consisting of a feedforward dynamic pattern and a feedback sensory reflex. The dynamic pattern is a rhythmic and periodic motion, which satisfies the constraints of dynamic stability and ground conditions, and is generated assuming that the models of the humanoid and the environment are known. The sensory reflex is a simple, but rapid motion programmed in respect to sensory information. The sensory reflex, we propose in this paper, consists of the body posture control, the actual ZMP (Zero Moment Point) control, and the landing time control. With the dynamic pattern and the sensory reflex, it is possible for the humanoid to walk rhythmically and to adapt itself to environmental uncertainties. The effectiveness of our proposed method was confirmed by walk experiments of an actual 26 DOF humanoid on an unknown rough terrain and in the presence of disturbances.
UR - https://www.scopus.com/pages/publications/57749116439
U2 - 10.1109/CIRA.2001.1013168
DO - 10.1109/CIRA.2001.1013168
M3 - Conference contribution
AN - SCOPUS:57749116439
T3 - Proceedings of IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA
SP - 29
EP - 34
BT - Proceedings - 2001 IEEE International Symposium on Computational Intelligence in Robotics and Automation
A2 - Zhang, Hong
A2 - Liu, Peter Xiaoping
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA 2001
Y2 - 29 July 2001 through 1 August 2001
ER -