抄録
This paper presents a method of utilizing estimated actual velocity of robot links for online walking pattern generation. The aim of the method is repetitively generating dynamically feasible trajectories that start from the actual motion status of the robot so that the balance of the robot will be maintained. A method of estimating the absolute velocity of the torso and feet based on gyroscopic sensor information is discussed. Then a method of designing a trajectory that satisfies estimated position and velocity as initial conditions and converges to a trajectory that realizes given walking parameters. Those 2 methods were implemented in the online walking controller of full-size humanoid HRP-2. The validity of the proposed methods is confirmed through the walking experiments of HRP-2.
