HUMANOID ROBOT HANSARAM: YAWING MOMENT CANCELLATION AND ZMP COMPENSATION

摘要

This paper briefs on an overview of recent progress and development in humanoid robot, HanSaRam series. HanSaRam (HSR) is a humanoid robot undergoing continual design and development in the Robot Intelligence Technology (RIT) Laboratory at KAIST since 2,000. Currently HSR-VI, the latest version developed in 2,004, is under experiment for on-line gait generation and aperiodic motion generation. In this paper, HSR-V is used to test the control algorithm for compensating the yawing moment induced by walking and real time ZMP compensation. The experiment results of the proposed two-phase gait generation and the real-time ZMP compensation are presented. The two-phase gait generation considers the yawing moment cancellation as well as a ZMP criterion. First, a cubic spline is used to make a gait, considering a ZMP criterion. And then, the swinging trajectories of arms are calculated to cancel the yawing moment. In addition to this cancellation, the ZMP compensation is also needed to keep its balance for stable walking. The proposed ZMP compensation algorithm makes the ZMP error be zero by its torso motion.