Abstract：In order to realize stable walking of humanoid robot,this paper puts forward a gait compensation algorithm,which compensates the joint torques according to information from the universal force-moment sensors in robot feet.This algorithm utilizes the overload capacity of the DC servo motor to improve dynamic performance of the robot joints under heavy load disturbances.Walking experiments prove the effectiveness of this algorithm under an off-line implementation.
[1] Hirai K,Hirose M,Haikawa Y,et al.The development of Honda humanoid robot[A].Proceedings of the 1998 IEEE International Conference on Robotics and Automation[C].Piscataway,USA;IEEE,1998.1322-1326. [2] Kagami S.Design and implementation of software research platform for humanoid robotics;H7[A].Proceedings of the Second International Conference on Humanoid Robots[C].Tokyo,Japan;2001.107-115. [3] Fujita M,Kuroki Y,Ishida T,et al.A small humanoid robot SDR4X for entertainment applications[A].Proceedings of the 2003IEEF/ASME International Conference on Advanced Intelligent Mechatronics[C].Piscataway,USA;IEEE,2003.938-943. [4] Yamataka M,Nakanishi H,Yamabuchi K,et al.Development of a small animal-type biped robot and its walking control system[A].Proceedings of the Second International Conference on Humanoid Robots[C].Tokyo,Japan;2001.197-204. [5] Lim H.Biped walking using stabilization and compliance control[A].Proceedings of the Second International Conference on Humanoid Robots[C].Tokyo,Japan;2001.211-217. [6] Fujimoto Y,Obata S,Kawamura A.Robust biped walking with active interaction control between foot and ground[A].Proceedings of the IEEE International Conference on Robotics and Automation[C].Piscataway,USA;IEEE,1998.2030-2035. [7] Li Q H,Takanishi A,Kato I.Biped walking robot having a ZMP measuring system using universal force-moment sensors[J].NASA Technical Memorandum,1990,103274;1568-1573. [8] Wong T C F,Hung Y S.Stabilization of biped dynamic walking using gyroscopic couple[A].Proceedings of the 1996 IEEE International Joint Symposia on Intelligence and Systems[C].Piscataway,USA;IEEE,1996.102-108. [9] 汪劲松,陈强,陈恳,等.拟人机器人技术及其系统研究[R].北京;清华大学,2003. [10] 刘莉,汪劲松,陈恳,等.基于六维力/力矩传感器的拟人机器人实际ZMP检测[J].机器人,2001,23(5);459-466.
