Overview of Gait Synthesis for the Humanoid COMAN
Overview of Gait Synthesis for the Humanoid COMAN作者机构：Department of Advanced Robotics lstituto Italiano di Tecnologia Via Morego 30 16163 Genova Italy Shenzhen Academy of Aerospace Technology Shenzhen 518057 China School of Informatics University of Edinburgh 10 Crichton St Edinburgh EH8 9AB UK
出 版 物：《Journal of Bionic Engineering》 (仿生工程学报（英文版）)
年 卷 期：2017年第14卷第1期
页 面：15-25页
核心收录：
学科分类：0710[理学-生物学] 07[理学] 09[农学]
基 金：supported by the European Horizon 2020 robotics program CogIMon FP7 European project WALK-MAN
主 题：humanoid robots bipedal locomotion gait synthesis dynamic walking
摘 要：This paper focuses on the developments of a generic gait synthesis for the humanoid robot COMAN. Relying on the essential Gait Pattern Generator （GPG）, the proposed synthesis offers enhanced versatilities for the locomotion under different purposes, and also provides the data storage and communication mechanisms among different modules. As an outcome, we are able to augment new abilities for COMAN by integrating new control modules and software tools at a cost of very few modifications. Moreover, foot placement optimization is introduced to the GPG to optimize the gait parameter references in order to meet the robot＇s natural dynamics and kinematics, which enhances the synthesis＇s robustness while it＇s being implemented on real robots. We have also presented a practical approach to generate pelvis motion from CoM references using a simplified three-point-mass model, as well as a straightforward but effective idea for the state estimation using the sensory feedback. Three physical experiments were studied in an increasing complexity to demonstrate the effectiveness and successful implementation of the proposed gait synthesis on a real humanoid system.
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