Posture/Walking Control for Humanoid Robot based on Kinematic Resolution of CoM Jacobian with Embedded Motion
- Title
- Posture/Walking Control for Humanoid Robot based on Kinematic Resolution of CoM Jacobian with Embedded Motion
- Author
- 최영진
- Keywords
- center of mass (CoM); CoM Jacobian; disturbance input-to-state stability (ISS); humanoid robot; posture/walking control; whole body coordination (WBC); zero moment point (ZMP)
- Issue Date
- 2007-12
- Publisher
- IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
- Citation
- IEEE TRANSACTIONS ON ROBOTICS, v. 23, No. 6, Page. 1285-1293
- Abstract
- This paper proposes the walking pattern generation method, the kinematic resolution method of center of mass (CoM) Jacobian with embedded motions, and the design method of posture/walking controller for humanoid robots. First, the walking pattern is generated using the simplified model for bipedal robot. Second, the kinematic resolution of CoM Jacobian with embedded motions makes a humanoid robot balanced automatically during movement of all other limbs. Actually, it offers an ability of whole body coordination to humanoid robot. Third, the posture/walking controller is completed by adding the CoM controller minus the zero moment point controller to the suggested kinematic resolution method. We prove that the proposed posture/walking controller brings the disturbance input-to-state stability for the simplified bipedal walking robot model. Finally, the effectiveness of the suggested posture/walking control method is shown through experiments with regard to the arm dancing and walking of humanoid robot.
- URI
- https://ieeexplore.ieee.org/abstract/document/4359259https://repository.hanyang.ac.kr/handle/20.500.11754/107568
- ISSN
- 1552-3098; 1941-0468
- DOI
- 10.1109/TRO.2007.904907
- Appears in Collections:
- COLLEGE OF ENGINEERING SCIENCES[E](공학대학) > ELECTRICAL ENGINEERING(전자공학부) > Articles
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