Humans utilize the extended-knee configuration to achieve efficient walk. A humanoid robot, however, cannot do so, since this posture is a singular one, and hence, an extremely large joint velocity would be generated, provided a conventional control method is used. Some other methods exist, though, that are able to handle motion control at such postures. One example is the Singularity Consistent (SC) Approach, which we used in a previous work to generate a static walk for a humanoid robot. In this paper, we propose a new method to generate a dynamic walking pattern through the singularity neighborhood, by using proper ankle control and pattern generation based on a spherical inverted pendulum model. Experimental results show the effectiveness of this approach.
Ahumall being utilizcs its singularities to achieve efficient walk . A robot , however , canIlot handle singularities , and hence , extremely large jdnt veloc 比y is generated . We have so far proposed the SiIlgularity CoIlsistGnt ( SC )Approach that can handle the singularity problem wlthout instabilities7 alld applied the method to generate static walk for a humanoid . However, it is dif 五cult to directly apply the Illethod to geIlerate dynanlic walk , sincc 比 slows down the motion arollnd singularit ・ ies in certaill directions , 工 n this paper, we prQpose a method to generate awalking patterll through singularity ne 重 borhood , by using proper ank 墨 e control and pat 七 em gencration based on the spherical inverted pelldulum mQdeL Experimental results show the effectiveness of ollr approach .
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