Center of Mass based Walking Pattern Generator with Gravity Compensation for Walking Control on Bioloid Humanoid Robot

摘要

This research discusses the development of simulation and generator of bipedal robot walking pattern on the sagittal, frontal and transversal planes by setting the trajectory of the sole and the pelvis of the robot with respect to the position of the robot center of mass changes to the biped robot support polygon. The robot center of mass is assumed to lie in the pelvis, and an adjustment is made when the structure of the robot is reconstructed with an additional load. Adjustments made in the form of converting angle of robot torso. The simulation program and the motion generator run out data-driven in the form of simulation data along with the correction data which is the gravity compensation for the reconstructed humanoid Bioloid robot. Data-driven becomes input for RoboPlus program from Robotis to adjust the angular position of each joint, joint rotation speed, robot posture, and static robot balance control. With the data-driven given, the Bioloid robot can achieve walking motion without falling on a flat and even floor without the overlap of a swinging foot to the stance foot, and without significantly affecting the step length and the step height of the initial planning. The robot reaches a speed of 0.423 m/s.