AN ANALYTICAL METHOD FOR REAL-TIME GAIT PLANNING FOR HUMANOID ROBOTS
Open Access
- 1 March 2006
- journal article
- Published by World Scientific Pub Co Pte Ltd in International Journal of Humanoid Robotics
- Vol. 3 (1), 1-19
- https://doi.org/10.1142/s0219843606000643
Abstract
This paper studies real-time gait planning for a humanoid robot. By simultaneously planning the trajectories of the COG (Center of Gravity) and the ZMP (Zero Moment Point), a fast and smooth change of gait can be realized. The change of gait is also realized by connecting the newly calculated trajectories to the current ones. While we propose two methods for connecting two trajectories, i.e. the real-time method and the quasi-real-time one, we show that a stable change of gait can be realized by using the quasi-real-time method even if the change of the step position is significant. The effectiveness of the proposed methods are confirmed by simulation and experiment.Keywords
This publication has 1 reference indexed in Scilit:
- Dynamic walking control of a biped robot along a potential energy conserving orbitIEEE Transactions on Robotics and Automation, 1992