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Compensatory motion control for a biped walking robot

Published online by Cambridge University Press:  12 January 2005

Hun-ok Lim  and
Atsuo Takanishi
Hun-ok Lim
Affiliation:
Department of System Design Engineering, Kanagawa Institute of Technology, 1030 Shimoogino, Atsugi, Kanagawa, 243-0293 Japan, Humanoid Robotics Institute, Waseda University, 3-4-1 Ookubo, Shinjuku, Tokyo, 169-8555 Japan, E-mail: [email protected]
Atsuo Takanishi
Affiliation:
Department of Mechanical Engineering, Waseda University, Humanoid Robotics Institute, Waseda University, Tokyo/Japan.
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Abstract

This paper addresses a compensatory motion control algorithm of a biped robot to deal with stable dynamic walking on even or uneven terrain. This control algorithm consists of three main parts; the introduction of a virtual plane to consider ZMP (Zero Moment Point); an iteration algorithm to compute the trunk motion; and a program control to realize dynamic walking. The virtual plane is defined as a plane formed by the support points between the surface of terrain and the soles. In order to obtain the trunk motion capable of compensating for the moments produced by the motion of the lower-limbs during the walking, ZMP equation on the virtual plane is computed by using an iteration method. Also, a walking pattern is presented which is composed of the trajectories of lower-limbs, waist and trunk. The walking pattern is commanded to the joints of WL-12RIII (Waseda Leg-Twelve Refined Three) using a program control method. Through walking simulations and experiments on an uneven terrain, such as stairs and sloped terrain, the effectiveness of the control method is verified.

Keywords

Virtual planeSupport polygonCompensatory motionWalking patternZMP trajectory
Type
Research Article
Information
Robotica , Volume 23 , Issue 1 , January 2005 , pp. 1 - 11
Copyright
2005 Cambridge University Press

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