An approach to generation of smooth walking pattern for biped robot

Daiki Ito, Toshiyuki Murakami, Kouhei Ohnishi

Research output: Contribution to conferencePaperpeer-review

10 Citations (Scopus)

Abstract

Biped robot and other legged robots have better adaptation to environment in human living-space than wheel type and crawler type mobile robot. Such an adaptivity to various environment including rough ground highly depends on control capacity. Till now, there have been much investigations on control the practical controllers for biped robots. According the environmental information, a walking parameters which is parameterized by walking speed, walking length, and so on becomes more important in order to prevent falling down. This paper proposes a method to generate walking pattern for biped robot considering walking parameters under the various environment. This method brings two trajectories, Center of Gravity (COG) Trajectory and Tip Trajectory of Swing Leg. COG Trajecotry is determined based on walking stability. On the other hand, Tip Trajectory of Swing Leg which is made from 5th-order Spline function is determined based on environmental information. Spline function has continuous to the second differentiation. By taking boundary conditions into consideration, continuity of adjacent trajectory is assured. The effectiveness of proposed method is shown in simulation apply for biped robot.

Original languageEnglish
Pages98-103
Number of pages6
Publication statusPublished - 2002 Dec 1
Event7th International Workshop on Advanced Motion Control, AMC '02 - Proceedings - Maribor, Slovenia
Duration: 2002 Jul 32002 Jul 5

Other

Other7th International Workshop on Advanced Motion Control, AMC '02 - Proceedings
CountrySlovenia
CityMaribor
Period02/7/302/7/5

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modelling and Simulation
  • Computer Science Applications
  • Electrical and Electronic Engineering

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