Emergent stop by using preview ZMP criteria map for humanoid robot

Tomohito Takubo; Kenji Inoue; Tatsuo Arai

doi:10.1299/kikaic.75.2986

Emergent stop by using preview ZMP criteria map for humanoid robot

Tomohito Takubo^*, Kenji Inoue, Tatsuo Arai

^*Corresponding author for this work

Osaka University

Research output: Contribution to journal › Article › peer-review

Abstract

A new real-time emergent stop method using modification criteria map is proposed for humanoid robots. The stable gait change is generated by adjusting the amount of the reference ZMP modification according to the timing of stop command. The modified ZMP trajectory is given so that the humanoid robot can change the current motion without falling down. The modification criteria are defined from the relation between the predicted ZMP trajectory using a preview controller and the support polygon. We make the map of relation among the reference ZMP modification length, the modification of step timing and the timing of the stop command for stable stop motion. The robot can execute the best stop motion referring to the predefined map. The validity of the proposed method is confirmed by experiments using a humanoid robot HRP-2.

Original language	English
Pages (from-to)	2986-2995
Number of pages	10
Journal	Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Volume	75
Issue number	759
DOIs	https://doi.org/10.1299/kikaic.75.2986
Publication status	Published - Nov 2009
Externally published	Yes

Keywords

Humanoid
Legged locomotion
Motion control
Moving robot

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10.1299/kikaic.75.2986

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abstract = "A new real-time emergent stop method using modification criteria map is proposed for humanoid robots. The stable gait change is generated by adjusting the amount of the reference ZMP modification according to the timing of stop command. The modified ZMP trajectory is given so that the humanoid robot can change the current motion without falling down. The modification criteria are defined from the relation between the predicted ZMP trajectory using a preview controller and the support polygon. We make the map of relation among the reference ZMP modification length, the modification of step timing and the timing of the stop command for stable stop motion. The robot can execute the best stop motion referring to the predefined map. The validity of the proposed method is confirmed by experiments using a humanoid robot HRP-2.",

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AU - Takubo, Tomohito

AU - Inoue, Kenji

AU - Arai, Tatsuo

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N2 - A new real-time emergent stop method using modification criteria map is proposed for humanoid robots. The stable gait change is generated by adjusting the amount of the reference ZMP modification according to the timing of stop command. The modified ZMP trajectory is given so that the humanoid robot can change the current motion without falling down. The modification criteria are defined from the relation between the predicted ZMP trajectory using a preview controller and the support polygon. We make the map of relation among the reference ZMP modification length, the modification of step timing and the timing of the stop command for stable stop motion. The robot can execute the best stop motion referring to the predefined map. The validity of the proposed method is confirmed by experiments using a humanoid robot HRP-2.

AB - A new real-time emergent stop method using modification criteria map is proposed for humanoid robots. The stable gait change is generated by adjusting the amount of the reference ZMP modification according to the timing of stop command. The modified ZMP trajectory is given so that the humanoid robot can change the current motion without falling down. The modification criteria are defined from the relation between the predicted ZMP trajectory using a preview controller and the support polygon. We make the map of relation among the reference ZMP modification length, the modification of step timing and the timing of the stop command for stable stop motion. The robot can execute the best stop motion referring to the predefined map. The validity of the proposed method is confirmed by experiments using a humanoid robot HRP-2.

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Emergent stop by using preview ZMP criteria map for humanoid robot

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