Legged robots that balance
Task-priority based redundancy control of robot manipulators
International Journal of Robotics Research
Real time motion generation and control for biped robot: 1st report: walking gait pattern generation
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Real time motion generation and control for biped robot: 2nd report: running gait pattern generation
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Real time motion generation and control for biped robot: 4th report: integrated balance control
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Proceedings of the 2010 ACM SIGGRAPH/Eurographics Symposium on Computer Animation
International Journal of Robotics Research
Human like trajectory generation for a biped robot with a four-bar linkage for the knees
Robotics and Autonomous Systems
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The present paper describes an implementation of fast running motions involving a humanoid robot. Two important technologies are described: a motion generation and a balance control. The motion generation is a unified way to design both walking and running and can generate the trajectory with the vertical conditions of the Center Of Mass (COM) in short calculation time. The balance control enables a robot to maintain balance by changing the positions of the contact foot dynamically when the robot is disturbed. This control consists of 1) compliance control without force sensors, in which the joints are made compliant by feed-forward torques and adjustment of gains of position control, and 2) feedback control, which uses the measured orientation of the robot's torso used in the motion generation as an initial condition to decide the foot positions. Finally, a human-sized humanoid robot that can run forward at 7.0 [km/h] is presented.