2013 13th IEEE-RAS International Conference on Humanoid Robots (Humanoids) 2013
DOI: 10.1109/humanoids.2013.7029961
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Velocity tracking algorithm in forward walking using estimated zmp by whole-body control framework

Abstract: This paper presents a forward walking strategy for humanoid robots using a whole-body control framework. Implementation of walking requires the coordination of movements between the feet and the center of mass (COM) of the system. In addition, the condition of preventing falling needs to be considered at the planning stage and later the robot is controlled to meet this condition upon execution. In this paper, assuming that the planned velocity of the COM and the corresponding foot trajectories are given, gener… Show more

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