Johannes Mayr, Hubert Gattringer, Hartmut Bremer,
"A Bipedal Walking Pattern Generator that Considers Multi-Body Dynamics by Angular Momentum Estimation"
: Proceedings of IEEE-RAS International Conference on Humanoid Robots 2012, Seite(n) 177-185, 12-2012
Original Titel:
A Bipedal Walking Pattern Generator that Considers Multi-Body Dynamics by Angular Momentum Estimation
Sprache des Titels:
Englisch
Original Buchtitel:
Proceedings of IEEE-RAS International Conference on Humanoid Robots 2012
Original Kurzfassung:
Typically, gait pattern generation for bipedal
robots utilizes a simplified model, neglecting the rate of change
of the angular momentum. In this paper a linear parameter
optimization problem for this simplified model, extended by an
estimation of the angular momentum, is proposed to generate
stable walking patterns that can be solved online and still
consider the nonlinear effects of the multi-body model. The
scheme was used successfully to generate trajectories for a fullsize
humanoid robot.