Real-time gait planning for pushing motion of humanoid robot

Naoki Motoi, Motomi Ikebe, Kouhei Ohnishi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

This paper describes real-time gait planning for pushing motion of a humanoid robot. We propose ZMP modification and cycle time modification. ZMP modification is the value which compensates the influence of virtual force to ZMP. Cycle time modification is that the period in double support phase is modified to avoid a robot tipping over. These modifications are calculated from information of reaction force on arms. In these methods, a robot walks while pushing an unknown object. Even if parameters of a object and friction coefficient on the floor vary, the robot keeps on walking while pushing. The effectiveness of the proposed method is confirmed by a simulation and an experiment.

Original languageEnglish
Title of host publicationIECON 2005
Subtitle of host publication31st Annual Conference of IEEE Industrial Electronics Society
Pages1809-1814
Number of pages6
DOIs
Publication statusPublished - 2005 Dec 1
EventIECON 2005: 31st Annual Conference of IEEE Industrial Electronics Society - Raleigh, NC, United States
Duration: 2005 Nov 62005 Nov 10

Publication series

NameIECON Proceedings (Industrial Electronics Conference)
Volume2005

Other

OtherIECON 2005: 31st Annual Conference of IEEE Industrial Electronics Society
CountryUnited States
CityRaleigh, NC
Period05/11/605/11/10

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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  • Cite this

    Motoi, N., Ikebe, M., & Ohnishi, K. (2005). Real-time gait planning for pushing motion of humanoid robot. In IECON 2005: 31st Annual Conference of IEEE Industrial Electronics Society (pp. 1809-1814). [1569180] (IECON Proceedings (Industrial Electronics Conference); Vol. 2005). https://doi.org/10.1109/IECON.2005.1569180