A self-stabilised walking gait for humanoid robots based on the essential model with internal states  

作　　者：Qiuyue Luo Christine Chevallereau Yongsheng Ou Jianxin Pang Victor De-León-Gómez Yannick Aoustin 

机构地区：[1]Shenzhen Institutes of Advanced Technology,Chinese Academy of Sciences,Shenzhen,China [2]Research Institute of UBTech Robotics,Shenzhen,China [3]Laboratoire des Sciences du Numerique de Nantes(LS2N),CNRS,Centrale Nantes,Nantes Université,Nantes,France [4]FCA at the Univerdidad Autónoma de Coahuila,Torreón,México

出　　处：《IET Cyber-Systems and Robotics》2022年第4期283-297,共15页智能系统与机器人（英文）

基　　金：National Natural Science Foundation of China,Grant/Award Numbers:62063006,62173319,U1813208;Shenzhen Fundamental Research Program,Grant/Award Number:JCYJ20200109115610172;Guangdong Basic and Applied Basic Research Foundation,Grant/Award Number:2020B1515120054;National Key Research and Development Program of China under Grant,Grant/Award Number:2018AAA0103001。

摘　　要：Walking stability is one of the key issues for humanoid robots.A self-stabilised walking gait for a full dynamic model of humanoid robots is proposed.For simplified models,that is,the linear inverted pendulum model and variable-length inverted pendulum model,self-stabilisation of walking gait can be obtained if virtual constraints are properly defined.This result is extended to the full dynamic model of humanoid robots by using an essential dynamic model,which is developed based on the zero dynamics concept.With the proposed method,a robust stable walking for a humanoid robot is achieved by adjusting the step timing and landing position of the swing foot automatically,following its intrinsic dynamic characteristics.This exempts the robot from the time-consuming high-level control approaches,especially when a full dynamic model is applied.How different walking patterns/features(i.e.,the swing foot motion,the vertical centre of mass motion,the switching manifold configuration,etc.)affect the stability of the walking gait is analysed.Simulations are conducted on robots Romeo and TALOS to support the results.

关 键 词：dynamic stability humanoid and bipedal locomotion passive walking 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]