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		Zhe TANG,Zengqi SUN,Hongbo LIU,Meng Joo ER.[en_title][J].Control Theory and Technology,2007,5(1):23~27.[Copy]

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ZheTANG,ZengqiSUN,HongboLIU,MengJooER
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Received:June 30, 2005Revised:October 12, 2006

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Clock-turning gait synthesis for humanoid robots

Zhe TANG, Zengqi SUN, Hongbo LIU, Meng Joo ER

(Intelligent Systems Centre, Nanyang Technological University, 637553, Singapore)

Abstract:

Turning gait is a basic motion for humanoid robots. This paper presents a method for humanoid turning, i.e. clock-turning. The objective of clock-turning is to change robot direction at a stationary spot. The clock-turning planning consists of four steps: ankle trajectory generation, hip trajectory generation, knee trajectory generation, and inverse kinematics calculation. Our proposed method is based on a typical humanoid structure with 12 DOFs (degrees of freedom). The final output of clock-turning planning is 12 reference trajectories, which are used to control a humanoid robot with 12 DOFs. ZMP (zero moment point) is used as stability criterion for the planning. Simulation experiments are conducted to verify the effectiveness of our proposed clock-turning method.

Key words: Humanoid robots Turning gait ZMP Clock-turning