Biped walking stabilization based on linear inverted pendulum tracking

A novel framework of biped walking stabilization control is introduced. The target robot is a 42 DOF humanoid robot HRP-4C which has a body dimensions close to the average Japanese female. We develop a body posture controller and foot force controllers on the joint position servo of the robot. By ap...

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Bibliographic Details
Published in2010 IEEE/RSJ International Conference on Intelligent Robots and Systems pp. 4489 - 4496
Main Authors Kajita, S, Morisawa, M, Miura, K, Nakaoka, S, Harada, K, Kaneko, K, Kanehiro, F, Yokoi, K
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.10.2010
Subjects
Foot
Force
Force control
Joints
Legged locomotion
Torque
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Summary:A novel framework of biped walking stabilization control is introduced. The target robot is a 42 DOF humanoid robot HRP-4C which has a body dimensions close to the average Japanese female. We develop a body posture controller and foot force controllers on the joint position servo of the robot. By applying this posture/force control, we can regard the robot system as a simple linear inverted pendulum with ZMP delay. After a preliminary experiment to confirm the linear dynamics, we design a tracking controller for walking stabilization. It is evaluated in the experiments of HRP-4C walking and turning on a lab floor. The robot can also perform an outdoor walk on an uneven pavement.
ISBN:9781424466740
1424466741
ISSN:2153-0858
DOI:10.1109/IROS.2010.5651082