WALKING PATTERN GENERATOR FOR ROBOT

摘要

PURPOSE: A walking pattern generator of a robot is provided to independently change the cycle, stride, and direction of waking of a biped robot on a slope surface inclined in longitudinal and transverse directions. CONSTITUTION: A walking pattern generator of a robot comprises a modeling part(110), a movement equation computing part(120), a CS(Command State) information converting part(130), a variable calculating part(140), and a walking pattern generating part(150). The modeling part models a biped robot on a slope surface inclined in longitudinal and transverse directions into a 3D-LIPM(3-Dimensional Linear Inverted Pendulum Model) and induces a dynamic equation for calculating a ZMP(Zero Moment Point) function and a movement equation about the center of mass of the 3D-LIPM. The movement equation computing part produces a movement equation about the center of mass of the 3D-LIPM using the dynamic equation. The CS information converting part changes a CS into a walking WS(Walking State). The variable calculating part calculates control variables of the ZMP function in order to calculate the WS. The walking pattern generating part applies the WS to the movement of the center of mass of the 3D-LIPM and creates a waling pattern corresponding to the movement of the center of mass of the 3D-LIPM.