Johannes Mayr, Hubert Gattringer, Hartmut Bremer,
"Online Walking Gait Generation with Predefined Variable Height of the Center of Mass"
, in Jeschke Sabina, Liu Honghai and Schilberg Daniel: Proceedings of the Fourth International Conference on Intelligent Robotics and Applications, Serie Lecture Notes in Computer Science (LNCS), Vol. 7102, Springer Berlin, Heidelberg, Seite(n) 569-578, 12-2011, ISBN: 978-3-642-25488-8
Original Titel:
Online Walking Gait Generation with Predefined Variable Height of the Center of Mass
Sprache des Titels:
Englisch
Original Buchtitel:
Proceedings of the Fourth International Conference on Intelligent Robotics and Applications
Original Kurzfassung:
For biped robots one main issue is the generation of stable
trajectories for the center of mass (CoM). Several different approaches
based on the zero moment point (ZMP) scheme have been presented in
the past. Due to the complex dynamic structure of bipedal robots, most
of the considered algorithms use a simplified time invariant linear model
to approximate the dynamics of the system. This model is extended
to a time variant one and then used to generate stable CoM trajectories
with variable predefined CoM height. This allows to generate trajectories
online for walking underneath obstacles with more accuracy. It is shown
that using this extended scheme it is possible to overcome some kinematic
limits as joint speed in the knee or the maximum step length for common
walking.