인간형 로봇의 모델 보행을 위한 타원궤적 생성법

Abstract

Main duty of a fashion model is natural and beautiful walking for representing the values of clothes. This model walking is fast and it has straight foot position almost of straight line. Because a biped robot cannot walk on the runway instead of a human walking model with existing walking methods such like LIPM, FFT, and so on, it has to choose a new trajectory generation method considering a human model walking. In this paper, we suggest an ellipsoidal trajectory generation method for a humanoid robot. This generated locomotion has an ellipsoidal shape normally. In this case, the stability condition is applied with feedback control against the steps not during supporting phage. We derived the center position of the ellipsoidal trajectory for walking stability and velocity translation. As results of simulation, a humanoid biped robot can walk like a model.