Name
Abstract | ||
|---|---|---|
We have realized a biped walking control based on the spatially quantized dynamics (SQD) which discretizes a continuous system by a constant unit length along the walk direction. By using SQD, a prescribed sagittal kinematic pattern can be transformed into dynamically consistent robot motion in real-time. The lateral motion is generated by preview control which uses future ZMP predicted by SQD at every control cycle. A successful biped walk of HRP-2Kai with fully stretched knees and long stride was realized by the proposed method. |
Year | DOI | Venue |
|---|---|---|
2018 | 10.1109/HUMANOIDS.2018.8624942 | 2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids) |
Keywords | Field | DocType |
sagittal kinematic pattern,biped walk,robot motion,biped walking control,spatially quantized dynamics,biped gait control,SQD,preview control | Kinematics,Gait,STRIDE,Computer science,Control theory,Quantization (physics),Robot motion,Sagittal plane | Conference |
ISSN | ISBN | Citations |
2164-0572 | 978-1-5386-7284-6 | 0 |
PageRank | References | Authors |
0.34 | 8 | 10 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Shuuji Kajita | 1 | 3008 | 271.45 |
| Mehdi Benallegue | 2 | 30 | 10.89 |
| Rafael Cisneros | 3 | 6 | 4.59 |
| Takeshi Sakaguchi | 4 | 46 | 8.80 |
| Shinichiro Nakaoka | 5 | 461 | 32.58 |
| Mitsuharu Morisawa | 6 | 647 | 49.09 |
| Hiroshi Kaminaga | 7 | 0 | 0.68 |
| Kumagai, I. | 8 | 7 | 5.29 |
| Kenji Kaneko | 9 | 80 | 7.10 |
| Fumio KANEHIRO | 10 | 2304 | 204.18 |