Body trajectory planning of biped robot based on ZMP

Tomoya Sato, Tomoyuki Suzuki, Maki Shibuya, Kouhei Ohnishi

Research output: Contribution to journalArticle

4 Citations (Scopus)

Abstract

In this paper, a body trajectory planning method of a biped robot based on ZMP (zero-moment point) is proposed. In the proposed method, the body of the biped robot is maintained at a constant height during walking. By this body trajectory, the biped robot walks stably without moving up and down the body height. Higher energy efficiency can be achieved by the proposed method than the conventional method that maintains a constant COG (center of gravity) height, since the biped robot walks with a higher body position and with less torque of joints. Additionally the validity of the proposed method was confirmed by experiments of walking.

Original languageEnglish
JournalIEEJ Transactions on Industry Applications
Volume129
Issue number7
DOIs
Publication statusPublished - 2009

Fingerprint

Trajectories
Robots
Planning
Energy efficiency
Gravitation
Torque
Experiments

Keywords

  • Biped robot
  • Body trajectory
  • Double support phase
  • Single support phase
  • Trajectory planning
  • ZMP

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Industrial and Manufacturing Engineering

Cite this

Body trajectory planning of biped robot based on ZMP. / Sato, Tomoya; Suzuki, Tomoyuki; Shibuya, Maki; Ohnishi, Kouhei.

In: IEEJ Transactions on Industry Applications, Vol. 129, No. 7, 2009.

Research output: Contribution to journalArticle

Sato, Tomoya ; Suzuki, Tomoyuki ; Shibuya, Maki ; Ohnishi, Kouhei. / Body trajectory planning of biped robot based on ZMP. In: IEEJ Transactions on Industry Applications. 2009 ; Vol. 129, No. 7.
@article{79480e5128654f6490ded7e1fbf340ca,
title = "Body trajectory planning of biped robot based on ZMP",
abstract = "In this paper, a body trajectory planning method of a biped robot based on ZMP (zero-moment point) is proposed. In the proposed method, the body of the biped robot is maintained at a constant height during walking. By this body trajectory, the biped robot walks stably without moving up and down the body height. Higher energy efficiency can be achieved by the proposed method than the conventional method that maintains a constant COG (center of gravity) height, since the biped robot walks with a higher body position and with less torque of joints. Additionally the validity of the proposed method was confirmed by experiments of walking.",
keywords = "Biped robot, Body trajectory, Double support phase, Single support phase, Trajectory planning, ZMP",
author = "Tomoya Sato and Tomoyuki Suzuki and Maki Shibuya and Kouhei Ohnishi",
year = "2009",
doi = "10.1541/ieejias.129.738",
language = "English",
volume = "129",
journal = "IEEJ Transactions on Industry Applications",
issn = "0913-6339",
publisher = "The Institute of Electrical Engineers of Japan",
number = "7",

}

TY - JOUR

T1 - Body trajectory planning of biped robot based on ZMP

AU - Sato, Tomoya

AU - Suzuki, Tomoyuki

AU - Shibuya, Maki

AU - Ohnishi, Kouhei

PY - 2009

Y1 - 2009

N2 - In this paper, a body trajectory planning method of a biped robot based on ZMP (zero-moment point) is proposed. In the proposed method, the body of the biped robot is maintained at a constant height during walking. By this body trajectory, the biped robot walks stably without moving up and down the body height. Higher energy efficiency can be achieved by the proposed method than the conventional method that maintains a constant COG (center of gravity) height, since the biped robot walks with a higher body position and with less torque of joints. Additionally the validity of the proposed method was confirmed by experiments of walking.

AB - In this paper, a body trajectory planning method of a biped robot based on ZMP (zero-moment point) is proposed. In the proposed method, the body of the biped robot is maintained at a constant height during walking. By this body trajectory, the biped robot walks stably without moving up and down the body height. Higher energy efficiency can be achieved by the proposed method than the conventional method that maintains a constant COG (center of gravity) height, since the biped robot walks with a higher body position and with less torque of joints. Additionally the validity of the proposed method was confirmed by experiments of walking.

KW - Biped robot

KW - Body trajectory

KW - Double support phase

KW - Single support phase

KW - Trajectory planning

KW - ZMP

UR - http://www.scopus.com/inward/record.url?scp=70349091868&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=70349091868&partnerID=8YFLogxK

U2 - 10.1541/ieejias.129.738

DO - 10.1541/ieejias.129.738

M3 - Article

AN - SCOPUS:70349091868

VL - 129

JO - IEEJ Transactions on Industry Applications

JF - IEEJ Transactions on Industry Applications

SN - 0913-6339

IS - 7

ER -