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A Fast Dynamically Equilibrated Walking Trajectory Generation Method of Humanoid Robot

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Abstract

This paper describes a fast dynamically equilibrated trajectory generation method for a humanoid robot. From a given input motion and the desired ZMP trajectory, the algorithm generates a dynamically equilibrated trajectory using the relationship between the robot's center of gravity and the ZMP. Three key issues are denoted: 1) an enhanced ZMP constraint which enables the calculation of robot stability even if several limbs are contacting the environment, 2) a simplified robot model is introduced that represents the relationship between its center of gravity and ZMP, 3) a convergence method is adopted to eliminate approximation errors arising from the simplified model. Combining these three key issues together with online ZMP compensation method, humanoid robot H5 have succeeded to walk, step down and so on. Experimental results using humanoid robot H5 are described.

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Authors and Affiliations

  1. Digital Human Laboratory, Advanced Industrial Science and Technology, 2–41–6 Aomi, Koto-ku, Tokyo, 135-0064, Japan

    Satoshi Kagami

  2. Department of Mechano-Informatics, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo, 113-8656, Japan

    Tomonobu Kitagawa, Koichi Nishiwaki, Tomomichi Sugihara, Masayuki Inaba & Hirochika Inoue

Authors
  1. Satoshi Kagami
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  2. Tomonobu Kitagawa
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  3. Koichi Nishiwaki
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  4. Tomomichi Sugihara
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  5. Masayuki Inaba
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  6. Hirochika Inoue
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Kagami, S., Kitagawa, T., Nishiwaki, K. et al. A Fast Dynamically Equilibrated Walking Trajectory Generation Method of Humanoid Robot. Autonomous Robots 12, 71–82 (2002). https://doi.org/10.1023/A:1013210909840

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  • DOI: https://doi.org/10.1023/A:1013210909840

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