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This paper describes a method of generating a stable walking trajectory for a biped humanoid robot. We design a desired ZMP trajectory by using a Fourier series, which has finite or infinite summation of sine and cosine functions, and calculating the coefficients of the Fourier series. And then, an analytic center of gravity (CoG) trajectory solution to the desired zero moment point (ZMP) trajectory...
This paper proposes a novel user interface for creating whole body motions of biped humanoid robots just by giving key poses. Although such an interface is popular for CG character animation, there have not been any practical systems that can appropriately handle the kinematic and dynamic conditions required for moving actual biped robots stably without falling down. In our interface, every time a...
This paper presents a biped humanoid robot that is able to walk on a rough terrain while touching a handrail. The contact wrench sum (CWS for short) is used as the criterion to judge if the contact between the robot and the environment is strongly stable under the sufficient friction assumption, where the contact points are not coplanar and the normal vectors at the points are not identical. It is...
This paper proposes a smooth cooperated walking pattern design and feedback control based on tilt senor for biped humanoid robot. In this research, the smoothness and stability problem is the key work of the motion planning. We make the robot walk stably and naturally like a human using static Zero Moment Point (ZMP) theory and the inclination feedback control. Its basic idea is as follows: firstly,...
This paper describes an algorithm about online gait trajectory generation method, controller for walking, brief introduction of humanoid robot platform KHR-3 (KAIST Humanoid Robot-3: HUBO) and experimental result. The gait trajectory has continuity, smoothness in varying walking period and stride, and it has simple mathematical form which can be implemented easily. It is tested on the robot with some...
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