TY - JOUR
T1 - Heel-Contact Toe-Off Walking Pattern Generator Based on the Linear Inverted Pendulum
AU - Shiguematsu, Yukitoshi Minami
AU - Kryczka, Przemyslaw
AU - Hashimoto, Kenji
AU - Lim, Hun Ok
AU - Takanishi, Atsuo
N1 - Funding Information:
This study was conducted as part of the Research Institute for Science and Engineering, Waseda University, and as part of the humanoid project at the Humanoid Robotics Institute, Waseda University. It was supported in part by JSPS KAKENHI (Grant Number: 24360099), Grants for Excellent Graduate Schools from Japanese MEXT and JSPS Institutional Program for Young Researcher Overseas Visits. It was also partially supported by SolidWorks Japan K. K., DYDEN Corporation and Cybernet Systems Co., Ltd. whom we thank for their financial and technical support.
Publisher Copyright:
© 2016 World Scientific Publishing Company.
PY - 2016/3/1
Y1 - 2016/3/1
N2 - We propose a novel heel-contact toe-off walking pattern generator for a biped humanoid robot. It is divided in two stages: a simple model stage where a Linear Inverted Pendulum (LIP) based heel-contact toe-off walking model based on the so-called functional rockers of the foot (heel, ankle and forefoot rockers) is used to calculate step positions and timings, and the Center of Mass (CoM) trajectory taking step lengths as inputs, and a multibody dynamics model stage, where the final pattern to implement on the humanoid robot is obtained from the output of the first simple model stage. The final pattern comprises the Zero Moment Point (ZMP) reference, the joint angle references and the end effector references. The generated patterns were implemented on our robotic platform, WABIAN-2R to evaluate the generated walking patterns.
AB - We propose a novel heel-contact toe-off walking pattern generator for a biped humanoid robot. It is divided in two stages: a simple model stage where a Linear Inverted Pendulum (LIP) based heel-contact toe-off walking model based on the so-called functional rockers of the foot (heel, ankle and forefoot rockers) is used to calculate step positions and timings, and the Center of Mass (CoM) trajectory taking step lengths as inputs, and a multibody dynamics model stage, where the final pattern to implement on the humanoid robot is obtained from the output of the first simple model stage. The final pattern comprises the Zero Moment Point (ZMP) reference, the joint angle references and the end effector references. The generated patterns were implemented on our robotic platform, WABIAN-2R to evaluate the generated walking patterns.
KW - Heel-contact toe-off motion
KW - LIP model
KW - WABIAN-2R
KW - gait pattern generation
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U2 - 10.1142/S021984361650002X
DO - 10.1142/S021984361650002X
M3 - Article
AN - SCOPUS:84963611885
SN - 0219-8436
VL - 13
JO - International Journal of Humanoid Robotics
JF - International Journal of Humanoid Robotics
IS - 1
M1 - 1650002
ER -