Running pattern generation and its evaluation using a realistic humanoid model
نویسندگان
چکیده
This paper describes a possibility of running humanoid robot based on the physical properties of an existing humanoid robot HRP-2L. To generate running motion, we develop a general method to control the total linear/angular momentum of multi-link system. By this method, we can generate a reliable running pattern. Conducting simulations which take into account of physical restrictions, we show that our humanoid robot can run at least with 0.5[m/s].
منابع مشابه
Running Pattern Generation for a Humanoid Robot
A method of running pattern generation for a humanoid robot using the dynamics of a simple inverted pendulum is proposed. Dynamic simulation using a model of an actual humanoid robot shows that the robot can run by applying a generated pattern with slight modifications. The simulation is used to evaluate the required performance of actuators for an actual running robot.
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