Preview Control applied for humanoid robot motion generation

被引：5

作者：

Szumowski, Maksymilian ^{[1
]}

Zurawska, Magdalena Sylwia ^{[1
]}

Zielinska, Teresa ^{[1
]}

机构：

[1] Warsaw Univ Technol, Fac Power & Aeronaut Engn, Nowowiejska 24 Str, Warsaw, Poland

来源：

ARCHIVES OF CONTROL SCIENCES | 2019年 / 29卷 / 01期

关键词：

motion generation; humanoid robot; Preview Control; Extended Cart-Table model; off-line method; WALKING;

D O I：

10.24425/acs.2019.127526

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents a concept of humanoid robot motion generation using the dedicated simplified dynamic model of the robot (Extended Cart-Table model). Humanoid robot gait with equal steps length is considered. Motion pattern is obtained here with use of Preview Control method. Motion trajectories are first obtained in simulations (off-line) and then they are verified on a test-bed. Tests performed using the real robot confirmed the correctness of the method. Robot completed a set of steps without losing its balance.

引用

页码：111 / 132

页数：22

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