Posture/walking control for humanoid robot based on kinematic resolution of CoM Jacobian with embedded motion
- Authors
- Choi, Youngjin; Kim, Doilk; Oh, Yonghwan; You, Bum-Jae
- Issue Date
- Dec-2007
- Publisher
- Institute of Electrical and Electronics Engineers
- Keywords
- center of mass (CoM); CoM Jacobian; disturbance input-to-state stability (ISS); humanoid robot; posture/walking control; whole body coordination (WBC); zero moment point (ZMP)
- Citation
- IEEE Transactions on Robotics, v.23, no.6, pp.1285 - 1293
- Indexed
- SCIE
SCOPUS
- Journal Title
- IEEE Transactions on Robotics
- Volume
- 23
- Number
- 6
- Start Page
- 1285
- End Page
- 1293
- URI
- https://scholarworks.bwise.kr/erica/handle/2021.sw.erica/43202
- DOI
- 10.1109/TRO.2007.904907
- ISSN
- 1552-3098
- Abstract
- This paper proposes the walking pattern generation method, the kinematic resolution method of center of mass (CoM) Jacobian with embedded motions, and the design method of posture/walking controller for humanoid robots. First, the walking pattern is generated using the simplified model for bipedal robot. Second, the kinematic resolution of CoM Jacobian with embedded motions makes a humanoid robot balanced automatically during movement of all other limbs. Actually, it offers an ability of whole body coordination to humanoid robot. Third, the posture/walking controller is completed by adding the CoM controller minus the zero moment point controller to the suggested kinematic resolution method. We prove that the proposed posture/walking controller brings the disturbance input-to-state stability for the simplified bipedal walking robot model. Finally, the effectiveness of the suggested posture/walking control method is shown through experiments with regard to the arm dancing and walking of humanoid. robot.
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