Integrated motion control for walking, jumping and running on a small bipedal entertainment robot
- 1 January 2004
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 4 (10504729) , 3189-3194 Vol.4
- https://doi.org/10.1109/robot.2004.1308745
Abstract
This paper proposes the integrated motion control method to make a bipedal humanoid walk, jump and run. This method generates dynamically consistent motion patterns in real-time based on the concept of the dynamics filter, which assures that the force and the moment generated by the robot can equilibrate with that caused by the environment. The validity of the algorithm is verified by the dynamic simulation. The proposed method is applied to the real humanoid "QRIO" under the adaptive controls, and stable walking, jumping and running including the transitions between them are realized.Keywords
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