Real-time walking trajectory generation method at constant body height in single support phase for three-dimensional biped robot

Tomoya Sato, Sho Sakaino, Kouhei Ohnishi

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

13 Citations (Scopus)

Abstract

In this paper, a real-time walking trajectory generation method at constant body height in a single support phase for three-dimensional biped robots is proposed. An analytic solution of a body trajectory was obtained from a ZMP (Zero-Moment Point) equation of a body and a swing leg trajectory. Real-time body trajectory is generated based on an analytic solution. This body trajectory is applied, the biped robot walks stably without up and down of the body height. Additionally, the modeling of the proposed method is more precisely than that of the conventional methods. The validity of the proposed method was confirmed by some simulations and an experiment.

Original languageEnglish
Title of host publication2009 IEEE International Conference on Industrial Technology, ICIT 2009
DOIs
Publication statusPublished - 2009 Jul 17
Event2009 IEEE International Conference on Industrial Technology, ICIT 2009 - Churchill, VIC, Australia
Duration: 2009 Feb 102009 Feb 13

Publication series

NameProceedings of the IEEE International Conference on Industrial Technology

Other

Other2009 IEEE International Conference on Industrial Technology, ICIT 2009
CountryAustralia
CityChurchill, VIC
Period09/2/1009/2/13

ASJC Scopus subject areas

  • Computer Science Applications
  • Electrical and Electronic Engineering

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    Sato, T., Sakaino, S., & Ohnishi, K. (2009). Real-time walking trajectory generation method at constant body height in single support phase for three-dimensional biped robot. In 2009 IEEE International Conference on Industrial Technology, ICIT 2009 [4939522] (Proceedings of the IEEE International Conference on Industrial Technology). https://doi.org/10.1109/ICIT.2009.4939522