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 Proceedings (Industrial Electronics Conference)
Pages1809-1814
Number of pages6
Volume2005
DOIs
Publication statusPublished - 2005
EventIECON 2005: 31st Annual Conference of IEEE Industrial Electronics Society - Raleigh, NC, United States
Duration: 2005 Nov 62005 Nov 10

Other

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

Fingerprint

Robots
Planning
Friction
Experiments

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

Cite this

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

Real-time gait planning for pushing motion of humanoid robot. / Motoi, Naoki; Ikebe, Motomi; Ohnishi, Kouhei.

IECON Proceedings (Industrial Electronics Conference). Vol. 2005 2005. p. 1809-1814 1569180.

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

Motoi, N, Ikebe, M & Ohnishi, K 2005, Real-time gait planning for pushing motion of humanoid robot. in IECON Proceedings (Industrial Electronics Conference). vol. 2005, 1569180, 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
Motoi N, Ikebe M, Ohnishi K. Real-time gait planning for pushing motion of humanoid robot. In IECON Proceedings (Industrial Electronics Conference). Vol. 2005. 2005. p. 1809-1814. 1569180 https://doi.org/10.1109/IECON.2005.1569180
Motoi, Naoki ; Ikebe, Motomi ; Ohnishi, Kouhei. / Real-time gait planning for pushing motion of humanoid robot. IECON Proceedings (Industrial Electronics Conference). Vol. 2005 2005. pp. 1809-1814
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