Learning a Fast Walk based on ZMP Control and Hip Height Movement

• Tipo: Artigo em Livro de Atas de Conferência Internacional
• Data: 2014

Autores

shafii, n (Autor) Outra; lau, n (Autor) Outra; reis, lp (Autor) FCUP

Ata de Conferência Internacional

Título: 2014 IEEE International Conference on Autonomous Robot Systems and Competitions, ICARSC 2014

Páginas: 181-186

IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC)

Espinho, PORTUGAL, MAY 14-15, 2014

Indexação

ISI Web of Knowledge - 3 Citações

Scopus - 5 Citações

Classificação Científica

FOS: Ciências exactas e naturais > Ciências da computação e da informação

Outras Informações

ID Authenticus: P-009-PXX

DOI: 10.1109/ICARSC.2014.6849783

Abstract (EN): The Linear inverted pendulum model is widely used in biped walking approaches. This model assumes that the hip height is fixed while the robot walks. In this paper, the hip height movement, or vertical Center of Mass (CoM) trajectory, is used by a robot to achieve a faster and more stable walk. For the first time, the hip height movement is modeled in a formal way and its parameters are learned. The inverted pendulum model and a numerical approach are used to control the Zero Moment Point (ZMP) for generating a balanced walk. Covariance Matrix Adaptation Evolution Strategy (CMA-ES) is applied to optimize the hip height trajectory and walking parameters with respect to walking speed and stability. Experimental results are achieved on a simulated NAO robot. A comparison of the results of the proposed gait model (and development approach) with those obtained using fixed hip height shows that fixed height walking is slower than variable height walking.

Idioma: Inglês

Tipo (Avaliação Docente): Científica

Nº de páginas: 6