Real-time gait planning for pushing motion of humanoid robot

Naoki Motoi, Motomi Ikebe, Kouhei Ohnishi

研究成果: Conference contribution

1 引用 (Scopus)

抜粋

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.

元の言語English
ホスト出版物のタイトルIECON 2005
ホスト出版物のサブタイトル31st Annual Conference of IEEE Industrial Electronics Society
ページ1809-1814
ページ数6
DOI
出版物ステータスPublished - 2005 12 1
イベントIECON 2005: 31st Annual Conference of IEEE Industrial Electronics Society - Raleigh, NC, United States
継続期間: 2005 11 62005 11 10

出版物シリーズ

名前IECON Proceedings (Industrial Electronics Conference)
2005

Other

OtherIECON 2005: 31st Annual Conference of IEEE Industrial Electronics Society
United States
Raleigh, NC
期間05/11/605/11/10

    フィンガープリント

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

これを引用

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