An Analytical Method for Real-Time Gait Planning for Humanoid Robots

نویسندگان

  • Kensuke Harada
  • Shuuji Kajita
  • Kenji Kaneko
  • Hirohisa Hirukawa
چکیده

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.

برای دانلود متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید

ثبت نام

اگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید

منابع مشابه

A Low Friction Demanding Approach in Gait Planning for Humanoid Robots During 3D Manoeuvres

This paper proposes a gait planning approach to reduce the required friction for a biped robot walking on various surfaces. To this end, a humanoid robot with 18 DOF is considered to develop a dynamics model for studying various 3D manoeuvres. Then, feasible trajectories are developed to alleviate the fluctuations on the upper body to resemble human-like walking. In order to generate feasible w...

متن کامل

PSO-Based Path Planning Algorithm for Humanoid Robots Considering Safety

In this paper we introduce an improvement in the path planning algorithm for the humanoid soccer playing robot which uses Ferguson splines and PSO (Particle Swarm Optimization). The objective of the algorithm is to find a path through other playing robots to the ball, which should be as short as possible and also safe enough. Ferguson splines create preliminary paths using random generated para...

متن کامل

A Differential Steering System for Humanoid Robots

Biped locomotion for humanoid robots is a challenging problem that has come into prominence in recent years. As the degrees of freedom of a humanoid robot approaches to that of humans, the need for a better, robust, flexible and simpler maneuverability becomes inevitable for real or realistic environments. This paper presents a new method of controlling the trajectory of a humanoid robot on the...

متن کامل

Efficient reaching motion planning method for low-level autonomy of teleoperated humanoid robots

This paper addresses an efficient reaching motion planning method tailored for teleoperated humanoid robots in complex environments. This method offers low-level autonomy that allows the robot to autonomously plan and execute simple tasks, thus making teleoperation easy. Efficiency is achieved by combining the phases of planning and execution. The planning phase quickly decides on a reaching mo...

متن کامل

Optimal Gait Generation in Biped Locomotion of Humanoid Robot to Improve Walking Speed

Humanoid robot is a type of robot that the overall appearance is based on that of the human body. Humanoid robots include a rich diversity of projects where perception, processing and action are embodied in a recognizably anthropomorphic form in order to emulate some subset of the physical, cognitive and social dimensions of the human body and experience. The research on humanoid robots spans f...

متن کامل

ذخیره در منابع من


  با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید

برای دانلود متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید

ثبت نام

اگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید

عنوان ژورنال:
  • I. J. Humanoid Robotics

دوره 3  شماره 

صفحات  -

تاریخ انتشار 2006