ON SOME ASPECTS OF HUMANOID ROBOTS GAIT SYNTHESIS AND CONTROL AT SMALL DISTURBANCES

摘要

This work considers some aspects of the problem of generating and preserving of two-legged gait bearing in mind the requirements for a higher degree of similarity with human gait (anthropomorphism) and robustness to the constantly present small disturbances during the walk. Reference motion was synthesized by semi-inverse method, varying the mode of ZMP traveling along a path selected in advance on the foot–ground surface. It was found that different ways of ZMP motion along the path has a decisive role in the trunk deflection in the sagittal plane. Also, the problem of classification of disturbances and their compensation during the gait is discussed in detail. The significance of the multi-link trunk in the gait synthesis and its role in the compensation of disturbances is also considered.