Humanoids Walk with Feedforward Dynamic Pattern and Feedback Sensory Reection
نویسندگان
چکیده
Since a biped humanoid inherently su ers from instability and always risks itself to tipping over, ensuring high stability and reliability of walk is one of the most important goals. This paper proposes a walk control consisting of a feedforward dynamic pattern and a feedback sensory re ex. The dynamic pattern is a rhythmic and periodic motion, which satis es the constraints of dynamic stability and ground conditions, and is generated assuming that the models of the humanoid and the environment are known. The sensory re ex is a simple, but rapid motion programmed in respect to sensory information. The sensory re ex, we propose in this paper, consists of the body posture control, the actual ZMP (Zero Moment Point) control, and the landing time control. With the dynamic pattern and the sensory re ex, it is possible for the humanoid to walk rhythmically and to adapt itself to environmental uncertainties. The e ectiveness of our proposed method was con rmed by walk experiments of an actual 26 DOF humanoid on an unknown rough terrain and in the presence of disturbances.
منابع مشابه
Humanoids Walk with Feedforward Dynamic Pattern and Feedback Sensory Reflection
Since a biped humanoid inherently su ers from instability and always risks itself to tipping over, ensuring high stability and reliability of walk is one of the most important goals. This paper proposes a walk control consisting of a feedforward dynamic pattern and a feedback sensory re ex. The dynamic pattern is a rhythmic and periodic motion, which satis es the constraints of dynamic stabilit...
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