Real-time gait planning for pushing motion of humanoid robot

Naoki Motoi; Motomi Ikebe; Kouhei Ohnishi

doi:10.1109/IECON.2005.1569180

Real-time gait planning for pushing motion of humanoid robot

Naoki Motoi, Motomi Ikebe, Kouhei Ohnishi

Department of System Design Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference 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 language	English
Title of host publication	IECON 2005
Subtitle of host publication	31st Annual Conference of IEEE Industrial Electronics Society
Pages	1809-1814
Number of pages	6
DOIs	https://doi.org/10.1109/IECON.2005.1569180
Publication status	Published - 2005 Dec 1
Event	IECON 2005: 31st Annual Conference of IEEE Industrial Electronics Society - Raleigh, NC, United States Duration: 2005 Nov 6 → 2005 Nov 10

Publication series

Name	IECON Proceedings (Industrial Electronics Conference)
Volume	2005

Other

Other	IECON 2005: 31st Annual Conference of IEEE Industrial Electronics Society
Country/Territory	United States
City	Raleigh, NC
Period	05/11/6 → 05/11/10

ASJC Scopus subject areas

Control and Systems Engineering
Electrical and Electronic Engineering

Access to Document

10.1109/IECON.2005.1569180

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., 1569180, IECON Proceedings (Industrial Electronics Conference), vol. 2005, pp. 1809-1814, IECON 2005: 31st Annual Conference of IEEE Industrial Electronics Society, Raleigh, NC, United States, 05/11/6. https://doi.org/10.1109/IECON.2005.1569180

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AB - 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.

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Real-time gait planning for pushing motion of humanoid robot

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