Humanoid Robot Online Walking Pattern Generation with Optimal Waist Trajectories
Date Issued
2016
Date
2016
Author(s)
Chen, Chien-An
Abstract
Comparing with wheeled robots, biped robots have more flexibility of adapting to living environment of humans and confronting with uneven terrain. And biped robots with upper body and two arms, or humanoid robots, are more capable of meeting humans’ demand, for example, cleaning rooms or serve drinks. However, before starting to serve humans, the humanoid robot itself need to guarantee its stability while walking in all kinds of environment, such as uneven terrain, stairs and spaces occupied by obstacles. So far, there have been many successfully developed theories and implementation of walking pattern generator that can perform stable walking for humanoid robot, and preview control theory is one of the most important one in the field. Based on simplified model for humanoid robots with complex structures, linear inverted pendulum model for example, we can do the footstep planning in advance and utilize the preview control theory to generate walking patterns with whole-body motions. In this thesis, we propose two trajectory generation algorithms that can greatly enhance the capability of a walking robot. One of the algorithms is the waist trajectory generation algorithm that can generate optimal waist motions and upper body compensation motions. By formulating and simplifying the waist trajectory generation problem, we are able to utilize the state-of-the-art linear programming solver to generate optimal waist motions. The generated optimal waist motions then increase the walking speed and exercising capability of humanoid robots, lengthen the walking stride for example. The second algorithm we proposed in this thesis is the online walking pattern generator. The difference of the proposed online walking pattern generator and the previous offline walking pattern generator in our lab is that the robot’s walking direction can now be changed by humans or the robot itself in any time. The algorithm exploits the concept of capture points and plans proper footsteps and walking patterns. Finally, the experiments show that two proposed trajectory generation algorithms do increase walking speed, lengthen walking strides and still preserve stability.
Subjects
Humanoid Robot
Online Walking Pattern Generator
Waist Trajectory Generation
Type
thesis
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