Walking pattern generation for humanoid robot considering upper body motion

Jie Yang*, Qiang Huang, Jianxi Li, Chenchen Li, Kejie Li

*此作品的通讯作者

科研成果: 书/报告/会议事项章节会议稿件同行评审

24 引用 (Scopus)

摘要

Walking pattern generation is a main Issue for humanoid robot. We have already proposed a method for planning stable walking pattern. Based on this method, this paper mainly discusses generating stable and harmonious walking pattern by considering upper body motion, and planning hip trajectories in both sagittal plane and lateral plane. To reduce the iterative computation cost, some constraints of the relationship between sagittal hip motion and lateral hip motion are formulated, and only the trajectories satisfy these constraints are worked out. Finally, we determine the trajectory with a large stability margin from these generated trajectories. The effectiveness of the proposed method is confirmed by simulations and experiments with our developed humanoid robot BHR-02 with 32 DOF.

源语言英语
主期刊名2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
4441-4446
页数6
DOI
出版状态已出版 - 2006
活动2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 - Beijing, 中国
期限: 9 10月 200615 10月 2006

出版系列

姓名IEEE International Conference on Intelligent Robots and Systems

会议

会议2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
国家/地区中国
Beijing
时期9/10/0615/10/06

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