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Dirk Wollherr

Online Posture Correction for Humanoid Walking Robots

Keywords: humanoid robot, walking control, Jacobi compensation

An online posture modification method termed Jacobi Compensation is proposed which is suitable to modify precalculated step trajectories for a humanoid robot in certain task coordinate directions. This method can account for modeling errors in trajectory precalculation by shifting e. g. the center of mass or certain parts of the humanoid mechanism to increase walking equilibrium and performance. A theoretical analysis of stability properties is given.

at – Automatisierungstechnik, Oldenbourg Wissenschaftsverlag

Print ISSN: 0178-2312
Volume: 54, 08/2006
Pages: 396 - 404

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