On-line computational scheme for dynamic walking of anthropomorphic biped robots

摘要

Based on the algorithm of Luh, Walker and Paul (1980) [LWP], a new and more effective on-line computational scheme used for real-time control of dynamic walking of anthropomorphic biped robots is developed. This scheme includes two algorithms, one is the famous LWP used for the single-foot supporting phase, and another is called IDADFS algorithm which is developed in this paper and used for the double-feet supporting phase. In IDADFS algorithm, the authors not only have given the recursive formulas for the kinematic and dynamic computations but also have proposed three criteria to examine the correctness of these computations. By means of this new computational scheme, one can perform precise real-time control for the dynamic walking of anthropomorphic biped robots. It should be pointed out that the research result of this paper can be also spread to multilegged robots. The more important is that the IDADFS algorithm also can be generalized to the manipulators with an open kinematic chain to realize the real-time control over this kind of manipulators when they execute closed-chain operating tasks or multirobots coordinative manipulations.