Gait Pattern Generation and Stabilization for Humanoid Robot Based on Coupled Oscillators

概要

To achieve a balanced walking for a humanoid, it is necessary to estimate the dynamic stability of the system. However, in a small size humanoid with restricted system resource, it is hard to satisfy the performance level desired by dynamics analysis. Therefore, in this paper, we propose the feasible methods to generate gait pattern and stabilize walking based on coupled oscillators which have a clear correlation between oscillator parameters and system dynamics without a real time ZMP calculation. The proposed method was tested on the open humanoid platform DARwIn-OP for the evaluation, and the result showed that a real time gait pattern generation and stabilization were realized.