Abstract
The purpose of this paper is to discuss the omnidirectional realization of a walking gait for the biped robot, HTY. Firstly, the paper introduces the structure and kinematics of the robot. Subsequently, a modular gait generation system is proposed, comprising a ZMP generator, swing leg generator, center of mass (CoM) generator, foot placement generator, and inverse kinematics (IK) module. These modules are used to obtain the trajectory of joint angles required for humanoid walking, based on the desired motion. Finally, the proposed gait generation system is validated through simulations and experiments on the HTY prototype. The results confirm the effectiveness of the gait generation system and demonstrate the omnidirectional walking ability of the HTY.
Supported by Key Research Project of Zhejiang Lab (No. G2021NB0AL03) and Zhejiang Provincial Natural Science Foundation of China (No. LQ23F030010).
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Tang, J. et al. (2023). Omnidirectional Walking Realization of a Biped Robot. In: Yang, H., et al. Intelligent Robotics and Applications. ICIRA 2023. Lecture Notes in Computer Science(), vol 14270. Springer, Singapore. https://doi.org/10.1007/978-981-99-6492-5_23
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DOI: https://doi.org/10.1007/978-981-99-6492-5_23
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