Optimized humanoid walking with soft soles
作者： Giovanni De Magistris , Adrien Pajon , Sylvain Miossec , Abderrahmane Kheddar
DOI: 10.1016/J.ROBOT.2017.05.006
关键词: Humanoid robot 、 Robustness (computer science) 、 Zero moment point 、 Simulation 、 Computer science 、 Control theory
摘要: In order to control more efficiently the feet-ground interaction of humanoid robots during walking, we investigate adding outer soft (i.e. compliant) soles feet. The deformation subsequent contact with ground is taken into account using a new walking pattern generator and estimator. This novel approach ensures that desired zero moment point for stability requirement fulfilled. We validate our controller HRP-4 robot performing experiments without Also, test robustness obtain low-energy performed different motions.
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