関節空間動作探索法に基づくロバスト膝伸展歩行実現

抄録

Comparing to IK (Inverse Kinematics) based motion control, joint-space motion control is more advantageous in terms of not being restricted by kinematics singularity problem. In this paper, we start with SIMBICON (Simple Biped Locomotion Control) based controller, a joint-space motion control method, extend it for enhancing walking's robustness and versatility. We propose a motion optimization method considering walking robustness, desired walking velocity and energy efficient minimization for walking motion generation. Our proposed method is also applied to a life-sized biped robot and archive human-like walking motion, which has stretchedknee posture and robust to large push disturbances.