A novel compound biped locomotion algorithm for humanoid robots to realize biped walking
Ruiwu XIN
Nanfeng XIAO
摘要：In this paper,a compound biped locomotion algorithm for a humanoid robot under development is pre-sented.This paper is organized in two main parts.In the first part,it mainly focuses on the structural design for the humanoid.In the second part.the compound biped locomotion algorithm is presented based on the reference motion and reference Zero Moment Point(ZMP).This novel algorithm includes calculation of the upper body motion and trajectory of the Center of Gravity(COG) of the robot.First,disturbances from the environment are eliminated by the compensational movement of the upper body; then based on the error between a reference ZMP and the real ZMP as well as the relation between ZMP and CoG,the CoG error is calculated,thus leading to the CoG trajectory.Then,the motion of the robot converges to its reference motion,generating stable biped walking.Because the calculation of upper body motion and tra-jectory of CoG both depend on the reference motion,they can work in parallel,thus providing double insurances against the robot's collapse.Finally,the algorithm is validated by different kinds of simulation experiments.
机标关键词：reference Zerohumanoid robotstructural designupperCOGZMPdevelopmentpaper
资助基金：the National Natural Science Foundation of China(60375031)General Administration of Civil Aviation of China(60776816)the Natural Science Foundation of Guangdong Province(8251064101000005)
论文发表日期：2009-01-01
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：6( 23-28 )
英文信息