Implementation of HOAP-2 humanoid walking motion in openHRP simulation

Rajat Mittal, Atsushi Konno, Shunsuke Komizunai

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Citations (Scopus)

Abstract

This paper describes the implementation of walking motion of HOAP-2 Humanoid in OpenHRP simulation. Weput forward the existing knowledge on humanoid walking in aconcise and straightforward manner and integrate it to make the humanoid walk. We make use of the concept of Zero Moment Point (ZMP) for stability analysis and Cart Table Model to determine the relation between Zero Moment Point and Centre of Mass for generating a walking motion pattern. The walking motion pattern is generated in Matlab which is then fed to OpenHRP simulation to test stable walking of the humanoid. The paper also discusses some stabilization algorithms which have been implemented on the humanoid in order to account for variations like surface unevenness and backlash which are encountered by the humanoid during walking in the real world.

Original languageEnglish
Title of host publicationProceedings - 1st International Conference on Computing, Communication, Control and Automation, ICCUBEA 2015
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages29-34
Number of pages6
ISBN (Electronic)9781479968923
DOIs
Publication statusPublished - 01-01-2015
Externally publishedYes
Event1st International Conference on Computing, Communication, Control and Automation, ICCUBEA 2015 - Pune, India
Duration: 26-02-201527-02-2015

Conference

Conference1st International Conference on Computing, Communication, Control and Automation, ICCUBEA 2015
CountryIndia
CityPune
Period26-02-1527-02-15

Fingerprint

Stabilization

All Science Journal Classification (ASJC) codes

  • Computational Theory and Mathematics
  • Computer Networks and Communications
  • Computer Science Applications
  • Control and Systems Engineering

Cite this

Mittal, R., Konno, A., & Komizunai, S. (2015). Implementation of HOAP-2 humanoid walking motion in openHRP simulation. In Proceedings - 1st International Conference on Computing, Communication, Control and Automation, ICCUBEA 2015 (pp. 29-34). [7155803] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICCUBEA.2015.212
Mittal, Rajat ; Konno, Atsushi ; Komizunai, Shunsuke. / Implementation of HOAP-2 humanoid walking motion in openHRP simulation. Proceedings - 1st International Conference on Computing, Communication, Control and Automation, ICCUBEA 2015. Institute of Electrical and Electronics Engineers Inc., 2015. pp. 29-34
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Mittal, R, Konno, A & Komizunai, S 2015, Implementation of HOAP-2 humanoid walking motion in openHRP simulation. in Proceedings - 1st International Conference on Computing, Communication, Control and Automation, ICCUBEA 2015., 7155803, Institute of Electrical and Electronics Engineers Inc., pp. 29-34, 1st International Conference on Computing, Communication, Control and Automation, ICCUBEA 2015, Pune, India, 26-02-15. https://doi.org/10.1109/ICCUBEA.2015.212

Implementation of HOAP-2 humanoid walking motion in openHRP simulation. / Mittal, Rajat; Konno, Atsushi; Komizunai, Shunsuke.

Proceedings - 1st International Conference on Computing, Communication, Control and Automation, ICCUBEA 2015. Institute of Electrical and Electronics Engineers Inc., 2015. p. 29-34 7155803.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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Mittal R, Konno A, Komizunai S. Implementation of HOAP-2 humanoid walking motion in openHRP simulation. In Proceedings - 1st International Conference on Computing, Communication, Control and Automation, ICCUBEA 2015. Institute of Electrical and Electronics Engineers Inc. 2015. p. 29-34. 7155803 https://doi.org/10.1109/ICCUBEA.2015.212