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Omni-Directional Walking Pattern Generator for Child-Sized Humanoid Robot, CHARLES2

Authors
Lee, KinamRyoo, Young-JaeByun, Kyung-SeokChoi, Jaeyoung
Issue Date
Jun-2017
Publisher
WORLD SCIENTIFIC PUBL CO PTE LTD
Keywords
Child-typed; humanoid robot; omni-direction; ZMP; walking; CHARLES2
Citation
INTERNATIONAL JOURNAL OF HUMANOID ROBOTICS, v.14, no.2
Journal Title
INTERNATIONAL JOURNAL OF HUMANOID ROBOTICS
Volume
14
Number
2
URI
http://scholarworks.bwise.kr/ssu/handle/2018.sw.ssu/6348
DOI
10.1142/S0219843617500049
ISSN
0219-8436
Abstract
In this paper, we propose an omni-directional walking pattern generator to make a child-sized humanoid robot walk in any direction. The proposed omni-directional walking pattern generator creates walking patterns for which zero moment point (ZMP) is located on the center of the supporting foot. For humanoid robots to adapt to human's life and perform missions, it should be taller than the minimum height of a child. In this paper, we designed a humanoid robot which is similar to a child who is taller than 1m. We show the humanoid robot's kinematics, design of a three-dimensional (3D) model, develop mechanisms and the hardware structures with servo-motors and compact-size PC. The developed humanoid robot "CHARLES2" stands for Cognitive Humanoid Autonomous Robot with Learning and Evolutionary System-Two. The inverse kinematics of its legs is described. The principle of the omni-directional walking pattern generator is discussed to create walking motions and overcome the robot's mechanical deficiencies. We applied the proposed omni-directional walking pattern generator based on ZMP. Through experiments, we analyzed walking patterns according to the creation and changing parameter values. The results of the experiments are presented for the efficacy of our proposed walking engine.
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