A Pattern Generator of Humanoid Robots Walking on a Rough Terrain

— This paper presents a motion pattern generator of humanoid robots that walks on a flat plane, steps and a rough terrain. It is guaranteed rigorously that the desired contact between a humanoid robot and terrain should be maintained by keeping the contact wrench sum between them inside the contact wrench cone under the sufficient friction assumption. A walking pattern is generated by solving the contact wrench equations and by applying the resolved momentum control.

• Type: Conference
• Year: 2007
• Where: ICRA
• Authors: Hirohisa Hirukawa, Shizuko Hattori, Shuuji Kajita, Kensuke Harada, Kenji Kaneko, Fumio Kanehiro, Mitsuharu Morisawa, Shinichiro Nakaoka
• Keywords: Contact Wrench, Contact Wrench Sum, Humanoid Robot, ICRA 2007, Robotics