Online walking pattern generation for biped humanoid robot with trunk

摘要

This paper describes an online method generating walking patterns for biped humanoid robots having a trunk. Depending on the walking command, the motion patterns of the lower-limbs are created and connected to the prewalking patterns smoothly in online. For the stability of the biped robots, the trunk and the waist motion is generated by a walking stabilization control that is based on the ZMP trajectory and the motion of the lower-limbs. Experimental tests of versatile biped walking on a plane surface are conducted using an auditory interface, and the validity of the online pattern generation method is verified.