Chapter 7 Conclusions and Future Works
7.2 Future Works
This thesis has completed several fundamental parts on the humanoid locomotion.
In the practical implementation, various issues and settlements need to be done. For example, although we optimized the ZMP trajectory for our humanoid robot, our methods are still offline method which cannot automatically generate natural walk motion online. How to measure the real ZMP is critical during natural walk. The 6 axis force/torque sensor can measure the force and torque from the foot pads. Therefore, the application of this sensor can help us to know where the ZMP locates. The robot can generate the toe-off and heel-contact motions by this information.
We hope our humanoid robot can automatically plan the walking trajectory. The online computation plays an important role for our future work. Since the computing speed in MATLAB is slower than Microsoft® Visual C++™, we must convert our programs to other platform. The natural walk also needs to plan its joint trajectories with online method.
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