Humanoid walking pattern modification based on foot-ground equivalent contact control

Authors:
Hongxu Ma;Guang Li;Jian Wang
Affiliations:
College of Mechatronics and Automation, University of National University of Defense Technology, Changsha, P.R. China;College of Mechatronics and Automation, University of National University of Defense Technology, Changsha, P.R. China;College of Mechatronics and Automation, University of National University of Defense Technology, Changsha, P.R. China
Venue:
ROBIO'09 Proceedings of the 2009 international conference on Robotics and biomimetics
Year:
2009

Citing 1
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An environmental adaptation mechanism for a biped walking robot control based on elicitation of sensorimotor constraints

SAB'06 Proceedings of the 9th international conference on From Animals to Animats: simulation of Adaptive Behavior

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Abstract

Environmental Adaptability plays an important role for humanoid robots to expand their applications. Based on force and torque information during footground contact, this paper presents a strategy for humanoid robots to modify preplanned walking pattern by using foot-ground equivalent contact control. Firstly, swing foot landing course is described, then several representative foot-ground contact modes are transformed into an equivalent single point contact mode, and an active compliant theorem based fuzzy controller is designed to realize foot-ground contact control. Combined with procedure of motion planning, method of walking pattern modification is put forward. Finally, simulation of "Virtual Blackmann" walking on uneven terrain is designed and related results are shown to validate the effectiveness of proposed strategy.