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

Research output: Contribution to journalConference articlepeer-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 languageEnglish
Pages (from-to)3346-3352
Number of pages7
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume4
Publication statusPublished - 2000
Externally publishedYes
EventICRA 2000: IEEE International Conference on Robotics and Automation - San Francisco, CA, USA
Duration: 24 Apr 200028 Apr 2000

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