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.
UR - http://www.scopus.com/inward/record.url?scp=0033685622&partnerID=8YFLogxK
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 -