Paper Info
Title
Realization of miniature humanoid for obstacle avoidance with real-time ZMP preview control used for full-sized humanoid
Abstract
Many walking pattern generators for humanoid robots require predefined trajectories for the robot to track. This inflexibility limits the range of real-world environments that the robot can navigate through. For environments with obstacles and inconsistent terrain, the ability to change the walking trajectory becomes valuable. Using a miniature humanoid, a three-dimensional inverted pendulum model and ZMP preview control with ZMP and Foot generator were used to implement a real-time ZMP preview controller. We show the simulation results walking on obstacle field which validates that this approach can generate the all types of walking pattern based on the distance estimated based on the sensor data to the target to step without the predefined trajectory.
Year
DOI
Venue
2010
10.1109/ICHR.2010.5686276
Humanoids
Keywords
Field
DocType
inconsistent terrain,walking trajectory,pattern classification,legged locomotion,sensor data,nonlinear systems,predefined trajectory,humanoid robots,pendulums,obstacle field,real-time zmp preview controller,gait analysis,three-dimensional inverted pendulum model,obstacle avoidance,zero moment point control,distance estimation,position control,foot generator,walking pattern generator,collision avoidance,full-sized humanoid,predictive control,miniature humanoid robots,three dimensional,mathematical model,humanoid robot,generators,trajectory,inverted pendulum,foot,real time
Obstacle avoidance,Obstacle,Control theory,Inverted pendulum,Control theory,Simulation,Computer science,Robot,Pendulum,Trajectory,Humanoid robot
Conference
ISBN
Citations 
PageRank 
978-1-4244-8689-2
4
0.49
References 
Authors
7
3
Name
Order
Citations
PageRank
Youngbum Jun1273.23
Robert Ellenberg2262.81
Paul Y. Oh328951.08