ZMP-Based Biped Running Pattern Generation With Contact Transition of Foot

被引：0

作者：

Shin, Hyeonsik ^{[1
]}

Park, Jong Hyeon ^{[1
]}

机构：

[1] Hanyang Univ, Dept Mech Engn, Seoul 133791, South Korea

来源：

2008 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS, VOLS 1-3 | 2008年

关键词：

Biped Robot; Running; Pattern Generation; ZMP;

D O I：

暂无

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

This paper proposes a method of running pattern generation for biped robot. Prescribed ZMP(Zero Moment Point) pattern is used to generate CoM(Center of Mass) motion. The ZMP pattern is generated by moving-Spring-Loaded Inverted Pendulum (SLIP) model. To reduce the ground impact, transitional motion of the landing foot is proposed. And the motion of foot is determined by using difference of ZMP and projected position of CoM. The trajectory of CoM is proposed to allow an M-shaped ground reaction force as in human's foot in running and walking. The effectiveness and the performance of the proposed control algorithms are shown in computer simulations with a 7-DOF biped robot.

引用

页码：916 / 921

页数：6

共 50 条

[21] A walking pattern generation for biped robot with parallel mechanism by considering contact force
Morisawa, M
Fujimoto, Y
Murakami, T
Ohnishi, K
IECON'01: 27TH ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY, VOLS 1-3, 2001, : 2184 - 2189
[22] A biped pattern generation allowing immediate modification of foot placement in real-time
Morisawa, Mitsuharu
Harada, Kensuke
Kajita, Shuuji
Kaneko, Kenji
Kanehiro, Fumio
Fujiwara, Kiyoshi
Nakaoka, Shinichiro
Hirukawa, Hirohisa
2006 6TH IEEE-RAS INTERNATIONAL CONFERENCE ON HUMANOID ROBOTS, VOLS 1 AND 2, 2006, : 581 - +
[23] 3D biped locomotion control including seamless transition between walking and running via 3D ZMP manipulation
Sugihara, Tomomichi
Imanishi, Kenta
Yamamoto, Takanobu
Caron, Stephane
2021 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA 2021), 2021, : 6258 - 6263
[24] Biped Walking Pattern Generation based on Spatially Quantized Dynamics
Kajita, Shuuji
Benallegue, Mehdi
Cisneros, Rafael
Sakaguchi, Takeshi
Nakaoka, Shin'ichiro
Morisawa, Mitsuharu
Kaneko, Kenji
Kanehiro, Fumio
2017 IEEE-RAS 17TH INTERNATIONAL CONFERENCE ON HUMANOID ROBOTICS (HUMANOIDS), 2017, : 599 - 605
[25] Real Time Motion Generation and Control for Biped Robot-2nd Report: Running Gait Pattern Generation
Takenaka, Toru
Matsumoto, Takashi
Yoshiike, Takahide
Shirokura, Shinya
2009 IEEE-RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, 2009, : 1092 - 1099
[26] Efficient Biped Pattern Generation Based on Passive Inverted Pendulum Model
Li, Jian
Chen, Weidong
AUTONOMOUS SYSTEMS - SELF-ORGANIZATION, MANAGEMENT, AND CONTROL, 2008, : 39 - 47
[27] Gait Generation and Transition for a Five-Link Biped Robot by Central Pattern Generator
Rashidi, Sahar Farshbaf
Noorani, Mohammad-Reza Sayyed
Shoaran, Maryam
Ghanbari, Ahmad
2014 SECOND RSI/ISM INTERNATIONAL CONFERENCE ON ROBOTICS AND MECHATRONICS (ICROM), 2014, : 852 - 857
[28] Walking trajectory generation for a 3D printing biped robot based on human natural gait and ZMP criteria
Wang, Ping
Wang, Yabo
Ru, Feng
2017 IEEE INTERNATIONAL CONFERENCE ON CYBERNETICS AND INTELLIGENT SYSTEMS (CIS) AND IEEE CONFERENCE ON ROBOTICS, AUTOMATION AND MECHATRONICS (RAM), 2017, : 237 - 242
[29] Running speed-induced changes in foot contact pattern influence impact loading rate
Breine, Bastiaan
Malcolm, Philippe
Galle, Samuel
Fiers, Pieter
Frederick, Edward C.
De Clercq, Dirk
EUROPEAN JOURNAL OF SPORT SCIENCE, 2019, 19 (06) : 774 - 783
[30] Three-Dimensional Dynamic Running with a Point-Foot Biped based on Differentially Flat SLIP
Hong, Zejun
Chen, Hua
Zhang, Wei
2022 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS), 2022, : 1169 - 1174

← 1 2 3 4 5 →