Design of the whole-body motion for a humanoid using dynamics filters

摘要

This paper describes the new framework in which the whole-body motions with desired dynamics properties for a humanoid are generated by iterative motion transformations using a 'Dynamics Filter', which changes the elementary dynamics property of the given motion. As an example, the algorithms of ZMP compensation filter, yaw moment compensation filter and shock compensation filter based on optimal gradient method are introduced. A physically feasible walking pattern with an arm-swing motion on a humanoid 'H5' is generated using these filters.