An omni-directional walking pattern generation method for humanoid robots with quartic polynomials

Seokmin Hong, Yonghwan Oh, Young Hwan Chang, Bum Jae You

Research output: Chapter in Book/Report/Conference proceedingConference contribution

13 Scopus citations

Abstract

This paper introduces an omni-directional walking pattern generation method according to various footprints for a humanoid robot. We propose three step modules for generating stable walking pattern based on zero moment point(ZMP) and linear inverted pendulum model. The proposed step module uses both the characteristics of periodicity and the least square method in order to reduce the fluctuation range of the ZMP trajectory according to various footprints. In order to implement it, the trajectory of the desired ZMP is designed with the quartic polynomials. This method is more insensitive to variation of the walking pattern owing to the initial value of the ZMP and CoM and various walking step length. And it makes more efficient trajectory of CoM on account of the slope of ZMP in the single support phase. The effectiveness of the propose method is verified by simulation.

Original languageEnglish (US)
Title of host publicationProceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
Pages4207-4213
Number of pages7
DOIs
StatePublished - Dec 1 2007
Event2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007 - San Diego, CA, United States
Duration: Oct 29 2007Nov 2 2007

Publication series

NameIEEE International Conference on Intelligent Robots and Systems

Other

Other2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
CountryUnited States
CitySan Diego, CA
Period10/29/0711/2/07

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

Fingerprint Dive into the research topics of 'An omni-directional walking pattern generation method for humanoid robots with quartic polynomials'. Together they form a unique fingerprint.

  • Cite this

    Hong, S., Oh, Y., Chang, Y. H., & You, B. J. (2007). An omni-directional walking pattern generation method for humanoid robots with quartic polynomials. In Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007 (pp. 4207-4213). [4399397] (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2007.4399397