Summary
This paper addresses an online walking control system in which dynamically stable motion pattern is generated and updated at every 20 [ms] cycle. We show that the frequent update of the pattern enables a robot to maintain long term balance of actual walking through the repetitive pattern generation. Short cycle generation also enables a robot to reflect change of stepping position with short delay after the change of the command input. Preview control theory is adopted for generating dynamically stable walking pattern. Then we propose a method of adjusting future ZMP goal by changing the stepping position. Future ZMP goal is changed so that the current dynamic balance is maintained. Command input that requires impossible sudden change of landing position is modified by this mechanism. It also changes the stepping position in order to compensate the error of ZMP that is caused by disturbance while actual walking. The proposed system is implemented on full-size humanoid HRP-2. Experiments on HRP-2, such as pushing a table, show the performance of the proposed walking control system.
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Nishiwaki, K., Kagami, S. (2008). Short Cycle Pattern Generation for Online Walking Control System of Humanoids. In: Khatib, O., Kumar, V., Rus, D. (eds) Experimental Robotics. Springer Tracts in Advanced Robotics, vol 39. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-77457-0_51
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DOI: https://doi.org/10.1007/978-3-540-77457-0_51
Publisher Name: Springer, Berlin, Heidelberg
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