計算負荷軽減を考慮した多項式近似による実時間歩行パターン生成法の提案

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抄録

In this paper, we describe the construction of a walking control system that applies PreCalculated Preview Control to RoboCup Soccer Humanoid and greatly reduces the calculation load. In many humanoid robots, preview control is applied to obtain the trajectory of the COG trajectory. However, the calculation load for finding the trajectory is relatively high. Therefore, it is difficult to apply it to a compact humanoid robot with a small a mount of calculation. In order to solve this problem, by using ”Pre-Calculated Preview Control (PCPC)” method which reduce the computation load of online COG trajectory generation by polynomial function, it realizes a stable walking control system even for robots with small calculation amount.We will construct a walking control system of RoboCup Soccer Humanoid, and confirm its effectiveness of system through the experiments.