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WALKING PATTERN GENERATION SYSTEM FOR BIPED WALKING ROBOT
WALKING PATTERN GENERATION SYSTEM FOR BIPED WALKING ROBOT
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机译:双足步行机器人的步行模式生成系统
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摘要
A walking pattern generation system generates a walking pattern of a biped walking robot. The walking pattern generation system includes a pole-zero controller for converting a target pattern data input to the system into a reference pattern data through a first transfer function, and a walking pattern generation unit for converting the reference pattern data into a walking pattern data through a second transfer function and outputting the converted walking pattern data, wherein the second transfer function has an unstable zero, and wherein the first transfer function includes a transfer function approximated to an inverse of the unstable zero of the second transfer function.
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