[1]MA Hongwen,WANG Liquan,ZHONG Zhi,等.A desired landing points walking method enabling a planner quadruped robot to walk on rough terrain[J].智能系统学报,2011,6(05):464-469.
 MA Hongwen,WANG Liquan,ZHONG Zhi,et al.A desired landing points walking method enabling a planner quadruped robot to walk on rough terrain[J].CAAI Transactions on Intelligent Systems,2011,6(05):464-469.
点击复制

A desired landing points walking method enabling a planner quadruped robot to walk on rough terrain(/HTML)
分享到:

《智能系统学报》[ISSN:1673-4785/CN:23-1538/TP]

卷:
第6卷
期数:
2011年05期
页码:
464-469
栏目:
出版日期:
2011-10-30

文章信息/Info

Title:
A desired landing points walking method enabling a planner quadruped robot to walk on rough terrain
文章编号:
1673-4785(2011)05-0464-06
作者:
MA Hongwen WANG Liquan ZHONG Zhi YAO Shaoming
College of Mechanical and Electrical, Harbin Engineering University, Harbin 150001, China
Author(s):
MA Hongwen WANG Liquan ZHONG Zhi YAO Shaoming
College of Mechanical and Electrical, Harbin Engineering University, Harbin 150001, China
关键词:
legged robot preview control desired landing points planner quadruped robot
Keywords:
legged robot preview control desired landing points planner quadruped robot
分类号:
TP242.6
文献标志码:
A
摘要:
It is necessary for legged robots to walk stably and smoothly on rough terrain. In this paper, a desired landing points (DLP) walking method based on preview control was proposed in which an offline foot motion trace and an online modification of the trace were used to enable the robot to walk on rough terrain. The online modification was composed of speed modification, foot liftingoff height modification, step length modification, and identification and avoidance of unsuitable landing terrain. A planner quadruped robot simulator was used to apply the DLP walking method. The correctness of the method was proven by a series of simulations using the Adams and Simulink.
Abstract:
It is necessary for legged robots to walk stably and smoothly on rough terrain. In this paper, a desired landing points (DLP) walking method based on preview control was proposed in which an offline foot motion trace and an online modification of the trace were used to enable the robot to walk on rough terrain. The online modification was composed of speed modification, foot liftingoff height modification, step length modification, and identification and avoidance of unsuitable landing terrain. A planner quadruped robot simulator was used to apply the DLP walking method. The correctness of the method was proven by a series of simulations using the Adams and Simulink.

参考文献/References:

[1]VUKOBRATOVIC′M, BOROVAC B. Zeromoment pointthirty five years of its life[J]. International Journal of Humanoid Robotics, 2004, 1(1): 157173.
[2]RAIBERT M H. Legged robot that balance[M]. Cambridge, USA: Massachusetts Institute of Technology, 1986.
[3]MCGEER T. Passive dynamic walking[J]. International Journal of Robotics Research, 1990, 9(2): 6282.
[4]COLLINS S H, RUINA A L, TEDRAKE R, et al. Efficient bipedal robots based on passivedynamic walkers[J]. Science, 2005, 307(5712): 10821085.
[5]KAJITA S, KANEHIRO F, KANEKO K, et al. A realtime pattern generator for biped walking[C]//Proceedings of the 2002 IEEE International Conference on Robotics and Automation. Washington, DC, USA, 2002: 3137.
[6]KAJITA S, KANEHIRO F, KANEKO K, et al. Biped walking pattern generation by using preview control of zeromoment point[C]//Proceedings of the 2003 IEEE International Conference on Robotics and Automation. Taipei, China, 2003: 16201626.
[7]PARK I W, KIM J Y, OH J H. Online biped walking pattern generation for humanoid robot KHR3(KAIST humanoid robot3: HUBO)[C]//The 6th IEEERAS International Conference on Humanoid Robots. Genova, Italy, 2006: 398403.
[8]HLIOT R, ESPIAU B. Online generation of cyclic leg trajectories synchronized with sensor measurement[J]. Robotics and Autonomous Systems, 2008, 56(5): 410421.
[9]FUKUOKA Y, KIMURA H, COHEN A H. Adaptive dynamic walking of a quadruped robot on irregular terrain based on biological concepts[J]. The International Journal of Robotics Research, 2003, 22(3/4): 187202.
[10]ARBULU M, YOKOI K, KHEDDAR A, et al. Dynamic acyclic motion from a planar contactstance to another[C]//IEEE/RSJ International Conference on Intelligent Robots and System. Nice, France, 2008: 34403445.
[11]ZONFRILLI F, WOLLHERR D, NAKAMURA Y. Walking control of the humanoid UTtheta[C]//Proceedings of the 12th International Conference on Advanced Robotics. Seattle, USA, 2005: 698704.
[12]KURAZUME R, TANAKA S, YAMASHITA M, et al. Straight legged walking of a biped robot[C]//2005 IEEE/RSJ International Conference on Intelligent Robots and Systems. Edmonton, Canada, 2005: 30953101.
[13]DIEDAM H, DIMITROV D, WIEBER P, et al. Online walking gait generation with adaptive foot positioning through linear model predictive control[C]//IEEE/RSJ International Conference on Intelligent Robots and Systems. Nice, France, 2008: 11211126.
[14]HUANG Q, NAKAMURA Y. Sensory reflex control for humanoid walking[J]. IEEE Transactions on Robotics, 2005, 21(5): 977984.

备注/Memo

备注/Memo:
Received Data: 2010-03-31.
 Foundation Item: This work was supported in part by the National Natural Science Foundation of China under Grant 60875067, the Natural Science Foundation of Heilongjiang Province under Grant F200602, and the Technical Innovation Talent Foundation of Harbin under Grant 2010RFQXG010.
Corresponding Author: MA Hongwen. E-mail: mahongwen@hrbeu.edu.cn.
About the authors:
MA Hongwen received a B.S. degree in automobile engineering in 1995 form Jilin University of Technology, Changchun, China.
WANG Liquan was born in Hebei, China in 1957. He received a PhD in control theory and control engineering from Harbin Engineering University (HEU). He is currently employed by HEU as a professor. 
 ZHONG Zhi received B.S. and M.S. degrees in communications engineering and a Ph.D. degree in instruments and instrumentation engineering, all from Harbin Institute of Technology, Harbin, China, in 1999, 2001, and 2005 respectively.
更新日期/Last Update: 2011-11-16