Please use this identifier to cite or link to this item:
|Title:||Moving horizontal reference map for bipedal robot walking over uneven terrain|
|Citation:||Wu, N.,Chew, C.M.,Poo, A.N.,Li, R. (2013). Moving horizontal reference map for bipedal robot walking over uneven terrain. IFAC Proceedings Volumes (IFAC-PapersOnline) : 577-582. ScholarBank@NUS Repository. https://doi.org/10.3182/20130410-3-CN-2034.00129|
|Abstract:||In this paper, we propose a constructive and robust control design for online stabilization of biped robot dynamic motion, especially walking on rough or uneven terrain. An online moving ground reference map based on both present and future information is proposed. It is obtained via minimizing the error of footstep, and the error of Center of Mass (CoM) position and velocity of the robot. By applying this reference map, robust CoM trajectories can be generated such that the resulted Zero Moment Point (ZMP) can follow the moving horizontal reference. This walking algorithm enhances the robots walking stability on uneven terrain based on preview control. The dynamic simulation results show that it can significantly improve walking stability and also minimize the error in tracking the pre-defined trajectory. The technique is very general and can be applied to a wide variety of humanoid robots. © 2013 IFAC.|
|Source Title:||IFAC Proceedings Volumes (IFAC-PapersOnline)|
|Appears in Collections:||Staff Publications|
Show full item record
Files in This Item:
There are no files associated with this item.
checked on Jan 11, 2019
checked on Dec 22, 2018
Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.