Synthesis of walking primitive databases for biped robots in 3D-environments

This paper presents a systematic approach to generate walking primitive databases for anthropomorphic 3D-bipeds allowing step length adaptation, direction changes and stepping over obstacles. The individual walking primitives are derived by optimal control techniques. Zero moment point (ZMP) and fri...

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Bibliographic Details
Published in2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422) Vol. 1; pp. 1343 - 1349 vol.1
Main Authors Denk, J., Schmidt, G.
Format Conference Proceeding
LanguageEnglish
Published IEEE 2003
Subjects
Anthropomorphism
Automatic generation control
Control system synthesis
Data engineering
Legged locomotion
Optimal control
Robotics and automation
Stability
Torque control
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Summary:This paper presents a systematic approach to generate walking primitive databases for anthropomorphic 3D-bipeds allowing step length adaptation, direction changes and stepping over obstacles. The individual walking primitives are derived by optimal control techniques. Zero moment point (ZMP) and friction conditions at the feet ensuring postural stability of the biped, as well as bounds on the joint angles and on the control torques, are treated as constraints. The resulting reference trajectories are validated by dynamic simulations.
ISBN:0780377362
9780780377363
ISSN:1050-4729
2577-087X
DOI:10.1109/ROBOT.2003.1241778