Implementation of HOAP-2 humanoid walking motion in openHRP simulation

Rajat Mittal; Atsushi Konno; Shunsuke Komizunai

doi:10.1109/ICCUBEA.2015.212

Implementation of HOAP-2 humanoid walking motion in openHRP simulation

Rajat Mittal, Atsushi Konno, Shunsuke Komizunai

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

7 Citations (Scopus)

Abstract

This paper describes the implementation of walking motion of HOAP-2 Humanoid in OpenHRP simulation. Weput forward the existing knowledge on humanoid walking in aconcise and straightforward manner and integrate it to make the humanoid walk. We make use of the concept of Zero Moment Point (ZMP) for stability analysis and Cart Table Model to determine the relation between Zero Moment Point and Centre of Mass for generating a walking motion pattern. The walking motion pattern is generated in Matlab which is then fed to OpenHRP simulation to test stable walking of the humanoid. The paper also discusses some stabilization algorithms which have been implemented on the humanoid in order to account for variations like surface unevenness and backlash which are encountered by the humanoid during walking in the real world.

Original language	English
Title of host publication	Proceedings - 1st International Conference on Computing, Communication, Control and Automation, ICCUBEA 2015
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	29-34
Number of pages	6
ISBN (Electronic)	9781479968923
DOIs	https://doi.org/10.1109/ICCUBEA.2015.212
Publication status	Published - 01-01-2015
Externally published	Yes
Event	1st International Conference on Computing, Communication, Control and Automation, ICCUBEA 2015 - Pune, India Duration: 26-02-2015 → 27-02-2015

Conference

Conference	1st International Conference on Computing, Communication, Control and Automation, ICCUBEA 2015
Country/Territory	India
City	Pune
Period	26-02-15 → 27-02-15

All Science Journal Classification (ASJC) codes

Computational Theory and Mathematics
Computer Networks and Communications
Computer Science Applications
Control and Systems Engineering

Access to Document

10.1109/ICCUBEA.2015.212

Cite this

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title = "Implementation of HOAP-2 humanoid walking motion in openHRP simulation",

abstract = "This paper describes the implementation of walking motion of HOAP-2 Humanoid in OpenHRP simulation. Weput forward the existing knowledge on humanoid walking in aconcise and straightforward manner and integrate it to make the humanoid walk. We make use of the concept of Zero Moment Point (ZMP) for stability analysis and Cart Table Model to determine the relation between Zero Moment Point and Centre of Mass for generating a walking motion pattern. The walking motion pattern is generated in Matlab which is then fed to OpenHRP simulation to test stable walking of the humanoid. The paper also discusses some stabilization algorithms which have been implemented on the humanoid in order to account for variations like surface unevenness and backlash which are encountered by the humanoid during walking in the real world.",

author = "Rajat Mittal and Atsushi Konno and Shunsuke Komizunai",

year = "2015",

month = jan,

day = "1",

doi = "10.1109/ICCUBEA.2015.212",

language = "English",

pages = "29--34",

booktitle = "Proceedings - 1st International Conference on Computing, Communication, Control and Automation, ICCUBEA 2015",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

address = "United States",

note = "1st International Conference on Computing, Communication, Control and Automation, ICCUBEA 2015 ; Conference date: 26-02-2015 Through 27-02-2015",

}

Mittal, R, Konno, A & Komizunai, S 2015, Implementation of HOAP-2 humanoid walking motion in openHRP simulation. in Proceedings - 1st International Conference on Computing, Communication, Control and Automation, ICCUBEA 2015., 7155803, Institute of Electrical and Electronics Engineers Inc., pp. 29-34, 1st International Conference on Computing, Communication, Control and Automation, ICCUBEA 2015, Pune, India, 26-02-15. https://doi.org/10.1109/ICCUBEA.2015.212

Implementation of HOAP-2 humanoid walking motion in openHRP simulation. / Mittal, Rajat; Konno, Atsushi; Komizunai, Shunsuke.

Proceedings - 1st International Conference on Computing, Communication, Control and Automation, ICCUBEA 2015. Institute of Electrical and Electronics Engineers Inc., 2015. p. 29-34 7155803.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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T1 - Implementation of HOAP-2 humanoid walking motion in openHRP simulation

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AU - Konno, Atsushi

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AB - This paper describes the implementation of walking motion of HOAP-2 Humanoid in OpenHRP simulation. Weput forward the existing knowledge on humanoid walking in aconcise and straightforward manner and integrate it to make the humanoid walk. We make use of the concept of Zero Moment Point (ZMP) for stability analysis and Cart Table Model to determine the relation between Zero Moment Point and Centre of Mass for generating a walking motion pattern. The walking motion pattern is generated in Matlab which is then fed to OpenHRP simulation to test stable walking of the humanoid. The paper also discusses some stabilization algorithms which have been implemented on the humanoid in order to account for variations like surface unevenness and backlash which are encountered by the humanoid during walking in the real world.

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BT - Proceedings - 1st International Conference on Computing, Communication, Control and Automation, ICCUBEA 2015

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ER -

Implementation of HOAP-2 humanoid walking motion in openHRP simulation

Abstract

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All Science Journal Classification (ASJC) codes

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