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Erschienen in:
Full Production Plant Automation in Industry Using Cable Robotics with High Load Capacities and Position Accuracy Kapitel lesen Erstes Kapitel lesen

2018 | OriginalPaper | Buchkapitel

A Hybrid ZMP-CPG Based Walk Engine for Biped Robots

verfasst von : S. Mohammadreza Kasaei, David Simões, Nuno Lau, Artur Pereira

Erschienen in: ROBOT 2017: Third Iberian Robotics Conference

Verlag: Springer International Publishing

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Abstract

Developing an optimized omnidirectional walking for biped robots is a challenging task due to their complex dynamics and kinematics. This paper proposes a hierarchical walk engine structure to generate fast and stable walking. In particular, this structure provides a closed-loop CPG-based omnidirectional walking that takes into account two human-inspired push recovery strategies. In addition, this structure is fully parametric and allows using a policy search algorithm to find the optimum parameters for the walking. To show the performance of the proposed structure, a set of experiments on a simulated NAO robot has been carried out. Experimental results demonstrate that the proposed structure is able to generate fast and stable omnidirectional walking. The maximum speed of forward walking that we have achieved was 59 cm/s.

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Vorheriges Kapitel Study of Gait Patterns for an Hexapod Robot in Search and Rescue Tasks
Nächstes Kapitel Modelling, Trajectory Planning and Control of a Quadruped Robot Using Matlab®/Simulink™
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Metadaten
Titel
A Hybrid ZMP-CPG Based Walk Engine for Biped Robots
verfasst von
S. Mohammadreza Kasaei
David Simões
Nuno Lau
Artur Pereira
Copyright-Jahr
2018
Buch
ROBOT 2017: Third Iberian Robotics Conference

Print ISBN: 978-3-319-70835-5

Electronic ISBN: 978-3-319-70836-2

Copyright-Jahr: 2018

DOI
https://doi.org/10.1007/978-3-319-70836-2_61

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