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 Citations (Scopus)

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 publicationIEEE International Conference on Intelligent Robots and Systems
Pages4207-4213
Number of pages7
DOIs
StatePublished - 2007
Externally publishedYes
Event2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007 - San Diego, CA, United States
Duration: Oct 29 2007Nov 2 2007

Other

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

Fingerprint

Trajectories
Polynomials
Robots
Pendulums

ASJC Scopus subject areas

  • Control and Systems Engineering

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 IEEE International Conference on Intelligent Robots and Systems (pp. 4207-4213). [4399397] https://doi.org/10.1109/IROS.2007.4399397

An omni-directional walking pattern generation method for humanoid robots with quartic polynomials. / Hong, Seokmin; Oh, Yonghwan; Chang, Young Hwan; You, Bum Jae.

IEEE International Conference on Intelligent Robots and Systems. 2007. p. 4207-4213 4399397.

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

Hong, S, Oh, Y, Chang, YH & You, BJ 2007, An omni-directional walking pattern generation method for humanoid robots with quartic polynomials. in IEEE International Conference on Intelligent Robots and Systems., 4399397, pp. 4207-4213, 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007, San Diego, CA, United States, 10/29/07. https://doi.org/10.1109/IROS.2007.4399397
Hong S, Oh Y, Chang YH, You BJ. An omni-directional walking pattern generation method for humanoid robots with quartic polynomials. In IEEE International Conference on Intelligent Robots and Systems. 2007. p. 4207-4213. 4399397 https://doi.org/10.1109/IROS.2007.4399397
Hong, Seokmin ; Oh, Yonghwan ; Chang, Young Hwan ; You, Bum Jae. / An omni-directional walking pattern generation method for humanoid robots with quartic polynomials. IEEE International Conference on Intelligent Robots and Systems. 2007. pp. 4207-4213
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