Abstract
In this paper, the real-time step length control method for a biped robot is proposed. In human environment, it is necessary for a biped robot to change its gait on real-time since it is required to walk according to situations. By use of the proposed method, the center-of-gravity trajectory and swing leg trajectory were generated on real-time with that its command value is the step length. For generating the center-of-gravity trajectory, we develop Linear Inverted Pendulum Mode and additionally consider walking stability by ZMP. In order to demonstrate the proposed method, the simulation and experiment of a biped walk is performed.
| Original language | English |
|---|---|
| Pages (from-to) | 32-37 |
| Number of pages | 6 |
| Journal | ieej transactions on industry applications |
| Volume | 125 |
| Issue number | 1 |
| DOIs | |
| Publication status | Published - 2005 Sept 1 |
Keywords
- biped walking
- inverse pendulum
- trajectory planning
ASJC Scopus subject areas
- Industrial and Manufacturing Engineering
- Electrical and Electronic Engineering