IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Stable whole-body motion generation for humanoid robots to imitate human motions
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Whole-body humanoid balance control with dynamically loading/unloading objects
ROBIO'09 Proceedings of the 2009 international conference on Robotics and biomimetics
Fuzzy SVM learning control system considering time properties of biped walking samples
Engineering Applications of Artificial Intelligence
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This paper proposes the walking pattern generation method, the kinematic resolution method of center of mass (CoM) Jacobian with embedded motions, and the design method of posture/walking controller for humanoid robots. First, the walking pattern is generated using the simplified model for bipedal robot. Second, the kinematic resolution of CoM Jacobian with embedded motions makes a humanoid robot balanced automatically during movement of all other limbs. Actually, it offers an ability of whole body coordination to humanoid robot. Third, the posture/walking controller is completed by adding the CoM controller minus the zero moment point controller to the suggested kinematic resolution method. We prove that the proposed posture/walking controller brings the disturbance input-to-state stability for the simplified bipedal walking robot model. Finally, the effectiveness of the suggested posture/walking control method is shown through experiments with regard to the arm dancing and walking of humanoid robot.