A bipedal locomotion planning based on virtual linear inverted pendulum mode

Naoki Motoi, Tomoyuki Suzuki, Kouhei Ohnishi

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

4 Citations (Scopus)

Abstract

In this paper, a bipedal locomotion planning based on Virtual Linear Inverted Pendulum Mode (VLIPM) is proposed. The purpose of the proposed method is to achieve the desired foot placement and the desired COG position and velocity in walking motion of a bipedal robot. In order to realize the purpose, the foot placement and trajectory planning are calculated separately. In calculation of the foot placement, VLIPM and Virtual Supporting Point (VSP) are used. Here, VLIPM is calculation method of the modified foot placement to realize the desired COG position and velocity. By using VSP, the difference between the modified and the desired foot placements is compensated. In the result, the desired foot placement is obtained. While, trajectory planning is applied to LIPM with VSP and 5 dimension polynomial. Boundary conditions of polynomial are set to the desired robot state. In the result, the desired COG position and velocity are also obtained. By applying to different models in calculations of the foot placement and trajectory planning, the desired robot motion is realized.

Original languageEnglish
Title of host publication2006 IEEE International Conference on Industrial Technology, ICIT
Pages158-163
Number of pages6
DOIs
Publication statusPublished - 2006 Dec 1
Event2006 IEEE International Conference on Industrial Technology, ICIT - Mumbai, India
Duration: 2006 Dec 152006 Dec 17

Publication series

NameProceedings of the IEEE International Conference on Industrial Technology

Other

Other2006 IEEE International Conference on Industrial Technology, ICIT
CountryIndia
CityMumbai
Period06/12/1506/12/17

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ASJC Scopus subject areas

  • Computer Science Applications
  • Electrical and Electronic Engineering

Cite this

Motoi, N., Suzuki, T., & Ohnishi, K. (2006). A bipedal locomotion planning based on virtual linear inverted pendulum mode. In 2006 IEEE International Conference on Industrial Technology, ICIT (pp. 158-163). [4237648] (Proceedings of the IEEE International Conference on Industrial Technology). https://doi.org/10.1109/ICIT.2006.372326