TY - GEN

T1 - Walking pattern generation of a biped walking robot using convolution sum

AU - Kim, Jung Hoon

PY - 2007/1/1

Y1 - 2007/1/1

N2 - This paper describes a novel walking pattern generation method for a biped humanoid robot using convolution sum in discrete domain. For a biped walking model, single mass inverted pendulum model is generally used and the ZMP equation is described by decoupled linear differential equation. In the viewpoint of linear system response, walking pattern generation can be regarded as a convolution of an arbitrary reference ZMP and the walking pattern for an impulse ZMP. For the calculation of convolution, the walking pattern for an impulse ZMP is derived from the analytic walking pattern for a step ZMP. Then the convolution sum is derived in two recursive forms which can be applied in online and offline respectively. The proposed algorithm requires low computation power since the walking pattern equation is composed of a recursive form. Because the algorithm is expressed in analytic form, it is not required to solve optimization problem or calculate FFT as other researchers. Computer simulation of walking also shows excellent accuracy of the proposed algorithm compared to preview control method that have been regarded as an excellent one.

AB - This paper describes a novel walking pattern generation method for a biped humanoid robot using convolution sum in discrete domain. For a biped walking model, single mass inverted pendulum model is generally used and the ZMP equation is described by decoupled linear differential equation. In the viewpoint of linear system response, walking pattern generation can be regarded as a convolution of an arbitrary reference ZMP and the walking pattern for an impulse ZMP. For the calculation of convolution, the walking pattern for an impulse ZMP is derived from the analytic walking pattern for a step ZMP. Then the convolution sum is derived in two recursive forms which can be applied in online and offline respectively. The proposed algorithm requires low computation power since the walking pattern equation is composed of a recursive form. Because the algorithm is expressed in analytic form, it is not required to solve optimization problem or calculate FFT as other researchers. Computer simulation of walking also shows excellent accuracy of the proposed algorithm compared to preview control method that have been regarded as an excellent one.

UR - http://www.scopus.com/inward/record.url?scp=67649687097&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=67649687097&partnerID=8YFLogxK

U2 - 10.1109/ICHR.2007.4813923

DO - 10.1109/ICHR.2007.4813923

M3 - Conference contribution

SN - 9781424418626

T3 - Proceedings of the 2007 7th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS 2007

SP - 539

EP - 544

BT - Proceedings of the 2007 7th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS 2007

PB - IEEE Computer Society

T2 - 2007 7th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS 2007

Y2 - 29 November 2007 through 1 December 2007

ER -