Omnidirectional Walking Pattern Generator Combining Virtual Constraints and Preview Control for Humanoid Robots.

ABSTRACT: This paper presents a novel omnidirectional walking pattern generator for bipedal locomotion combining two structurally different approaches based on the virtual constraints and the preview control theories to generate a flexible gait that can be modified on-line. The proposed strategy synchronizes the displacement of the robot along the two planes of walking: the zero moment point based preview control is responsible for the lateral component of the gait, while the sagittal motion is generated by a more dynamical approach based on virtual constraints. The resulting algorithm is characterized by a low computational complexity and high flexibility, requisite for a successful deployment to humanoid robots operating in real world scenarios. This solution is motivated by observations in biomec

SUBMITTER: Ruscelli F 

PROVIDER: S-EPMC8284058 | biostudies-literature | 2021

REPOSITORIES: biostudies-literature