Parametric Omni-directional Gait Planning of Humanoid Robots
ZHANG Jiwen1, LIU Li1,2, LI Changshuo1, CHEN Ken1,2
1. Department of Mechanical Engineering, Tsinghua University, Beijing 100084, China;
2. The State Key Laboratory of Tribology, Tsinghua University, Beijing 100084, China
In order to realize the stable and rapid omni-directional walking gait, and overcome such shortcomings as complexity in multi-rigid-body dynamics model and ignorance of step connections in other omni-directional motion strategies, a general kinematic parametric outline is proposed to describe a single step, and constraints among paces are described based on a newly reported omni-directional vehicle model. An inter-step transition algorithm is generated with these constraints. A standard working condition is also provided to evaluate the quality of omni-directional gait. Dynamics simulation and physical robot experiments prove the validity of the method, as well as the necessity of inter-step transition algorithm.
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