Walking analyses of a humanoid by visual-lifting approach

Gyetak Lee, Mamoru Minami, Akira Yanou, Yosuke Kobayashi, Jumpei Nishiguchi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Biped locomotion created by a controller based on ZMP known as reliable control method looks different from human's walking on the view point that ZMP-based walking does not include tipping-over state. However, the walking control that does not depend on ZMP is vulnerable to turnover. Therefore, we propose walking stabilizer based on visual feedback to enhance standing robustness and prevent the robot from falling down. Simulation results indicate that this stabilizer helps stabilize pose and bipedal walking even though ZMP is not kept inside convex hull of supporting area. In this report, we discuss proposed visual-lifting approach in conjunction wish arms' swinging motion on a viewpoint that the arms' motion helps improve walking efficiency.

Original languageEnglish
Title of host publication2013 44th International Symposium on Robotics, ISR 2013
DOIs
Publication statusPublished - Dec 1 2013
Event2013 44th IEEE International Symposium on Robotics, ISR 2013 - Seoul, Korea, Republic of
Duration: Oct 24 2013Oct 26 2013

Publication series

Name2013 44th International Symposium on Robotics, ISR 2013

Other

Other2013 44th IEEE International Symposium on Robotics, ISR 2013
CountryKorea, Republic of
CitySeoul
Period10/24/1310/26/13

Keywords

  • bipedal walking
  • humanoid
  • visual-lifting control

ASJC Scopus subject areas

  • Artificial Intelligence
  • Human-Computer Interaction

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