Biped locomotion control for uneven terrain with narrow support region
作者： Mitsuharu Morisawa , Nobuyuki Kita , Shin'ichiro Nakaoka , Kenji Kaneko , Shuuji Kajita
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摘要: This paper presents a biped locomotion control method for an exploration in unknown environment. It is still hard humanoid robot to walk autonomously even artificial construction such as power plant which are overly arranged many stairs and pipes. In environment, the physical constraints with collision avoidance, joint limitations support region on terrain, become dominant exploration. Updating environmental information walking pattern generator controller, complicated rough terrain can be achieved. The proposed validated through several dynamics simulations HRP-2 robot.
sci-hub.se 参考文章(17)
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