ZMP-based biped running enhanced by toe springs

被引：60
|
作者：
Kajita, Shuuji [1 ]
Kaneko, Kenji [1 ]
Morisawa, Mitsuharu [1 ]
Nakaoka, Shinichiro [1 ]
Hirukawa, Hirohisa [1 ]
机构：
[1] AIST, Intelligent Syst Res Inst, 1-1-1 Umezono, Tsukuba, Ibaraki 3058568, Japan
来源：
PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10 | 2007年
关键词：
D O I：
10.1109/ROBOT.2007.364087
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
We discuss a ZMP-based running pattern generation for a biped robot equipped with toe springs. Our biped robot HRP-2LT has twelve active DoFs for its legs and two passive DoFs for its toes. The trajectory of the center of mass is designed to realize the specified running motion and the foot trajectories are determined to get proper spring action at lift off phases. They are interpreted into joint angles by using the resolved momentum control. By the simulation and the preliminary experiment, it is shown that the toe springs are effectively used for running and hopping.
引用
收藏
页码：3963 / +
页数：2
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