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Running

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■ Running Pattern Generation

1) Problem of Resolved Momentum Control

- Hopping and Running have a flight phase.

- Biped can rotate itself during a flight phase.

- Rotation can make unstable landing.

i) Set Angular Momentum of COM = 0

ii) Make the perfect trajectories of Linear and angular momentum

iii) Unnatural body motion

iv) It is impossible to find the perfect trajectories.

- Therefore, it is necessary to find new pattern generation method


2) Forward Pattern Generation in the Sagittal Plane

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3) Y-directional Pattern Generation in the Frontal Plane

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4) Yaw-axis Pattern Generation in the horizontal plane

- Yaw axis angular momentum is caused by a x-directional foot motion.

- Yaw axis angular momentum can be eliminated by a trunk motion.

- A system could be simplified.


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5) Real Time Control Structure

 

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