Clock-turning gait synthesis for humanoid robots
Zhe TANG
Zengqi SUN
Hongbo LIU
Meng Joo ER
摘要：Turning gait is a basic motion for humanoid robots.This paper presents a method for humanoid turning.i.e.clock-turning.The objective of clock-turning is to change robot direction at a stationary spot.The clock-turning planning consists of four steps:ankle trajectory generation,hip trajectory generation,knee trajectory generation,and inverse kinematics calculation.Our proposed method is based on a typical humanoid structure with 12 DOFs(degrees of freedom).The final output of clock-turning planning is 12 reference trajectories.which are used to control a humanoid robot wim 12 DOFs.ZMP(zero moment point)is used as stability criterion for the planning.Simulation experiments are conducted to verify the effectiveness of our proposed clock-turning method.
机标关键词：
分类号：TP3(计算技术、计算机技术)
资助基金：国家自然科学基金(60174018)
论文发表日期：2007-01-01
在线出版日期：2025-08-15（本平台首次上网日期，不代表文献的发表时间）
页数：5( 23-27 )
英文信息