Towards an Autonomous, Humanoid, and Dynamically Walking Robot: Modeling, OPTIMAL TRAJECTORY PLANNING, HARDWARE ARCHITECTURE, AND EXPERIMENTS

摘要

The development process to achieve walking motion with a recently constructed humanoid robot is discussed. The desired motion is based on the solution of an optimal control problem whose constraints depend upon the high-dimensional nonlinear multibody system dynamics of the 17 DoF humanoid and physical contact constraints with the environment. On-line control strategies are developed to track the precalculated trajectories. Experimental walking results with the humanoid robot are presented.