Whole-body online modification of biped robot walking pattern

摘要

This paper introduced a method for whole-body motion modification online.According to the simplified dynamic model of robot,the walking pattern was generated.When walking in the real environment,there would be errors between pre-planned walking pattern and the actual state of motion.In order to reduce and suppress the errors,the authors adopted the compensation of Centre of Mass(CoM) to correct joints gait online.This method could reduce the robot's Zero Moment Point(ZMP) errors,and improve the stability of the robot walking.The biped walking robot AFU-09 proves the effectiveness of the method.