2P1-B30 A Pattern Generator for Humanoid Walking through Singularity Neighborhood

Abstract

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 ．