摘要
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 sensory reflexive control for humanoid walking. 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 sensory reflex, it is possible for the humanoid 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.
| 源语言 | 英语 |
|---|---|
| 页 | 3256-3260 |
| 页数 | 5 |
| 出版状态 | 已出版 - 2002 |
| 活动 | Proceedings of the 4th World Congress on Intelligent Control and Automation - Shanghai, 中国 期限: 10 6月 2002 → 14 6月 2002 |
会议
| 会议 | Proceedings of the 4th World Congress on Intelligent Control and Automation |
|---|---|
| 国家/地区 | 中国 |
| 市 | Shanghai |
| 时期 | 10/06/02 → 14/06/02 |