Biped Walking on Irregular Terrain Using Motion Primitives

机译：使用运动原语，在不规则的地形上行走

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Effective and efficient motion of humanoid robots is a prerequisite for their activity in the unstructured environment. It is of great importance to enable the walk on uneven ground surface. This work presents a method for the synthesis and realization of the online modifiable robot walk that is adjustable to the partially unknown configuration of ground surface. Walk is composed of tied simple movements - primitives which are parameterized with established relationship with overall motion parameters. Proposed approach was tested by simulation and it was demonstrated that it is possible to generate a online modifiable dynamically balanced walk. For such walk is tested the ability to adapt to uneven configuration to uneven terrain.

机译：人形机器人的有效和高效运动是他们在非结构化环境中活动的先决条件。在接地表面上的步行方面可以很重要。该工作提出了一种用于合成和实现在线可修改的机器人行走的方法，该方法可调节到地面的部分未知配置。步行由TIED简单的动作组成 - 用与整体运动参数建立的关系进行参数化的基元。通过模拟测试了提出的方法，并证明了可以在线可修改的动态平衡步行。对于这种散步，测试能够适应不均匀的地形不均匀。

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《CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators》|2014年||共9页
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Mirko Rakovic; Branislav Borovac; Milutin Nikolic; Srdan Savic;
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中图分类 TP24-53;
关键词
Biped locomotion; Motion primitives; Irregular terrain;

机译：Biped Locomotion;运动原语;不规则的地形;

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专利

1. Human-inspired motion primitives and transitions for bipedal robotic locomotion in diverse terrain [J] . H. Zhao, M. J. Powell, A. D. Ames Optimal Control Applications and Methods . 2014,第6期

机译：在不同地形中以人为灵感的运动原语和双足机器人运动的过渡
2. Biologically inspired adaptive dynamic walking of a quadruped on irregular terrain -proposal of the design of coupled neuro-mechanical system and evaluation of the mutual entrainment among pitching motion: CPG and rolling motion [J] . Yasuhiro Fukuoka, Hiroshi Kimura 日本ロボット学会誌 . 2003,第5期

机译：受生物启发的四足动物在不规则地形上的自适应动态行走-耦合神经机械系统设计的建议以及俯仰运动（CPG和滚动运动）之间的相互夹带的评估
3. Biologically inspired adaptive dynamic walking of a quadruped on irregular terrain -proposal of the design of coupled neuro-mechanical system and evaluation of the mutual entrainment among pitching motion: CPG and rolling motion [J] . Yasuhiro Fukuoka, Hiroshi Kimura 日本ロボット学会誌 . 2003,第5期

机译：在非正规地形上的生物启发自适应动态行走 - 耦合神经机械系统的设计和投球运动中相互夹带的评价：CPG和轧制运动
4. Biped Walking on Irregular Terrain Using Motion Primitives [C] . Mirko Rakovic, Branislav Borovac, Milutin Nikolic, CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators . 2014

机译：使用运动原语，在不规则的地形上行走
5. Biped locomotion on irregular terrain. [D] . McCown-McClintick, Barbara Ellen. 1994

机译：在不规则地形上进行Biped运动。
6. Humans exploit the biomechanics of bipedal gait during visually guided walking over complex terrain [O] . Jonathan Samir Matthis, Brett R. Fajen 2013

机译：在视觉引导下在复杂地形上行走时人类利用双足步态的生物力学
7. Human-Inspired Motion Primitives and Transitions for Bipedal Robotic Locomotion in Diverse Terrain [O] . Zhao, Huihua 2015

机译：在不同地形中以人为灵感的运动原语和双足机器人运动的过渡。

Biped Walking on Irregular Terrain Using Motion Primitives

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