Balance control of a biped robot combining off-line pattern with real-time modification

Qiang Huang; Kenji Kaneko; Kazuhito Yokoi; Shuuji Kajita; Tetsuo Kotoku; Noriho Koyachi; Hirohiko Arai; Nobuaki Imamura; Kiyoshi Komoriya; Kazuo Tanie

Balance control of a biped robot combining off-line pattern with real-time modification

Qiang Huang^*, Kenji Kaneko, Kazuhito Yokoi, Shuuji Kajita, Tetsuo Kotoku, Noriho Koyachi, Hirohiko Arai, Nobuaki Imamura, Kiyoshi Komoriya, Kazuo Tanie

^*Corresponding author for this work

The University of Tokyo

Research output: Contribution to journal › Conference article › peer-review

96 Citations (Scopus)

Abstract

Since a biped robot tends to tip over easily, stable and reliable biped walking is a very important achievement. In this paper, we propose a balance control method based on an off-line planned walking pattern with real-time modification. First, a method of generating a highly stable, smooth walking pattern is presented. Then, a method of real-time modification consisting of body posture control, actual ZMP control and landing time control based sensor information is proposed. By combining the proposed off-line walking pattern with real-time modification, the biped robot can walk smoothly and adapt to unknown environments. The effectiveness of the proposed method is confirmed by dynamic simulator such as walking on unexpected irregular rough terrain, soft ground and in environments in the presence of disturbances.

Original language	English
Pages (from-to)	3346-3352
Number of pages	7
Journal	Proceedings - IEEE International Conference on Robotics and Automation
Volume	4
Publication status	Published - 2000
Externally published	Yes
Event	ICRA 2000: IEEE International Conference on Robotics and Automation - San Francisco, CA, USA Duration: 24 Apr 2000 → 28 Apr 2000

Cite this

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title = "Balance control of a biped robot combining off-line pattern with real-time modification",

abstract = "Since a biped robot tends to tip over easily, stable and reliable biped walking is a very important achievement. In this paper, we propose a balance control method based on an off-line planned walking pattern with real-time modification. First, a method of generating a highly stable, smooth walking pattern is presented. Then, a method of real-time modification consisting of body posture control, actual ZMP control and landing time control based sensor information is proposed. By combining the proposed off-line walking pattern with real-time modification, the biped robot can walk smoothly and adapt to unknown environments. The effectiveness of the proposed method is confirmed by dynamic simulator such as walking on unexpected irregular rough terrain, soft ground and in environments in the presence of disturbances.",

author = "Qiang Huang and Kenji Kaneko and Kazuhito Yokoi and Shuuji Kajita and Tetsuo Kotoku and Noriho Koyachi and Hirohiko Arai and Nobuaki Imamura and Kiyoshi Komoriya and Kazuo Tanie",

year = "2000",

language = "English",

volume = "4",

pages = "3346--3352",

journal = "Proceedings - IEEE International Conference on Robotics and Automation",

issn = "1050-4729",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

note = "ICRA 2000: IEEE International Conference on Robotics and Automation ; Conference date: 24-04-2000 Through 28-04-2000",

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TY - JOUR

T1 - Balance control of a biped robot combining off-line pattern with real-time modification

AU - Huang, Qiang

AU - Kaneko, Kenji

AU - Yokoi, Kazuhito

AU - Kajita, Shuuji

AU - Kotoku, Tetsuo

AU - Koyachi, Noriho

AU - Arai, Hirohiko

AU - Imamura, Nobuaki

AU - Komoriya, Kiyoshi

AU - Tanie, Kazuo

PY - 2000

Y1 - 2000

N2 - Since a biped robot tends to tip over easily, stable and reliable biped walking is a very important achievement. In this paper, we propose a balance control method based on an off-line planned walking pattern with real-time modification. First, a method of generating a highly stable, smooth walking pattern is presented. Then, a method of real-time modification consisting of body posture control, actual ZMP control and landing time control based sensor information is proposed. By combining the proposed off-line walking pattern with real-time modification, the biped robot can walk smoothly and adapt to unknown environments. The effectiveness of the proposed method is confirmed by dynamic simulator such as walking on unexpected irregular rough terrain, soft ground and in environments in the presence of disturbances.

AB - Since a biped robot tends to tip over easily, stable and reliable biped walking is a very important achievement. In this paper, we propose a balance control method based on an off-line planned walking pattern with real-time modification. First, a method of generating a highly stable, smooth walking pattern is presented. Then, a method of real-time modification consisting of body posture control, actual ZMP control and landing time control based sensor information is proposed. By combining the proposed off-line walking pattern with real-time modification, the biped robot can walk smoothly and adapt to unknown environments. The effectiveness of the proposed method is confirmed by dynamic simulator such as walking on unexpected irregular rough terrain, soft ground and in environments in the presence of disturbances.

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M3 - Conference article

AN - SCOPUS:0033685622

SN - 1050-4729

VL - 4

SP - 3346

EP - 3352

JO - Proceedings - IEEE International Conference on Robotics and Automation

JF - Proceedings - IEEE International Conference on Robotics and Automation

T2 - ICRA 2000: IEEE International Conference on Robotics and Automation

Y2 - 24 April 2000 through 28 April 2000

ER -

Balance control of a biped robot combining off-line pattern with real-time modification

Abstract

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