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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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