Generation of Walking Patterns for Biped Robots Based on Dynamics of 3D Linear Inverted Pendulum

Autor:	Konstantin Krestovnikov, Nikita Pavliuk, Artem Kovalev, Anton Saveliev
Rok vydání:	2019
Předmět:	Computer Science::Robotics Surface (mathematics) Error function Control theory Computer science Trajectory Robot Center of mass Humanoid robot Inverted pendulum Zero moment point
Zdroj:	Lecture Notes in Computer Science ISBN: 9783030261177 ICR
DOI:	10.1007/978-3-030-26118-4_17
Popis:	Biped humanoid robot dynamics is approximated by dynamics of 3D linear inverted pendulum, which can be derived from dynamics of ordinary 3D inverted pendulum. Based on this approximation of biped robot dynamics we can generate walking patterns, which are specified by step parameters, that specify desired zero moment point (ZMP) trajectory. To track desired center of mass (CoM) trajectory, modified foot positions are calculated by minimizing an error function in closed form. Different forces acting on biped robot are taken into account during calculation of robot dynamics for plain surface as well for uneven terrain. Some walking patterns and walking primitives are expressed algorithmically for different 3D cases in terms of ground-fixed coordinate frame. Some dynamic constraints applicable in this setting are presented.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::e59a5394ffb7cddcccc342434031dde1 https://doi.org/10.1007/978-3-030-26118-4_17 Zobrazit plný text záznamu