Real-time walking trajectory generation method with three-mass models at constant body height for three-dimensional biped robots

Tomoya Sato, Sho Sakaino, Kouhei Ohnishi

Research output: Contribution to journalArticle

41 Citations (Scopus)

Abstract

In this paper, a real-time walking trajectory generation method with three-mass models at constant body height for 3-D biped robots is extended for a diagonal walking. By realization of the diagonal walking, the availability is improved. The modeling of this method is more precise than that of conventional real-time walking trajectory generation methods. In this method, the zero-moment point equation of a body is derived, and an analytic solution of a body trajectory at a constant body height in a single support phase is obtained. Because the analytic solution is used, real-time trajectory generation can be realized. In addition, this method has advantages of the body trajectory at the constant body height. The validities are confirmed from simulations of the 2-D walking and an experiment of the 3-D diagonal walking.

Original languageEnglish
Article number5518427
Pages (from-to)376-383
Number of pages8
JournalIEEE Transactions on Industrial Electronics
Volume58
Issue number2
DOIs
Publication statusPublished - 2011 Feb

Fingerprint

Trajectories
Robots
Availability
Experiments

Keywords

  • Biped robot
  • trajectory planning
  • walking
  • zero-moment point (ZMP)

ASJC Scopus subject areas

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

Cite this

Real-time walking trajectory generation method with three-mass models at constant body height for three-dimensional biped robots. / Sato, Tomoya; Sakaino, Sho; Ohnishi, Kouhei.

In: IEEE Transactions on Industrial Electronics, Vol. 58, No. 2, 5518427, 02.2011, p. 376-383.

Research output: Contribution to journalArticle

@article{449e73aa74914250bfee480adc748c56,
title = "Real-time walking trajectory generation method with three-mass models at constant body height for three-dimensional biped robots",
abstract = "In this paper, a real-time walking trajectory generation method with three-mass models at constant body height for 3-D biped robots is extended for a diagonal walking. By realization of the diagonal walking, the availability is improved. The modeling of this method is more precise than that of conventional real-time walking trajectory generation methods. In this method, the zero-moment point equation of a body is derived, and an analytic solution of a body trajectory at a constant body height in a single support phase is obtained. Because the analytic solution is used, real-time trajectory generation can be realized. In addition, this method has advantages of the body trajectory at the constant body height. The validities are confirmed from simulations of the 2-D walking and an experiment of the 3-D diagonal walking.",
keywords = "Biped robot, trajectory planning, walking, zero-moment point (ZMP)",
author = "Tomoya Sato and Sho Sakaino and Kouhei Ohnishi",
year = "2011",
month = "2",
doi = "10.1109/TIE.2010.2052535",
language = "English",
volume = "58",
pages = "376--383",
journal = "IEEE Transactions on Industrial Electronics",
issn = "0278-0046",
publisher = "IEEE Industrial Electronics Society",
number = "2",

}

TY - JOUR

T1 - Real-time walking trajectory generation method with three-mass models at constant body height for three-dimensional biped robots

AU - Sato, Tomoya

AU - Sakaino, Sho

AU - Ohnishi, Kouhei

PY - 2011/2

Y1 - 2011/2

N2 - In this paper, a real-time walking trajectory generation method with three-mass models at constant body height for 3-D biped robots is extended for a diagonal walking. By realization of the diagonal walking, the availability is improved. The modeling of this method is more precise than that of conventional real-time walking trajectory generation methods. In this method, the zero-moment point equation of a body is derived, and an analytic solution of a body trajectory at a constant body height in a single support phase is obtained. Because the analytic solution is used, real-time trajectory generation can be realized. In addition, this method has advantages of the body trajectory at the constant body height. The validities are confirmed from simulations of the 2-D walking and an experiment of the 3-D diagonal walking.

AB - In this paper, a real-time walking trajectory generation method with three-mass models at constant body height for 3-D biped robots is extended for a diagonal walking. By realization of the diagonal walking, the availability is improved. The modeling of this method is more precise than that of conventional real-time walking trajectory generation methods. In this method, the zero-moment point equation of a body is derived, and an analytic solution of a body trajectory at a constant body height in a single support phase is obtained. Because the analytic solution is used, real-time trajectory generation can be realized. In addition, this method has advantages of the body trajectory at the constant body height. The validities are confirmed from simulations of the 2-D walking and an experiment of the 3-D diagonal walking.

KW - Biped robot

KW - trajectory planning

KW - walking

KW - zero-moment point (ZMP)

UR - http://www.scopus.com/inward/record.url?scp=78651364073&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=78651364073&partnerID=8YFLogxK

U2 - 10.1109/TIE.2010.2052535

DO - 10.1109/TIE.2010.2052535

M3 - Article

VL - 58

SP - 376

EP - 383

JO - IEEE Transactions on Industrial Electronics

JF - IEEE Transactions on Industrial Electronics

SN - 0278-0046

IS - 2

M1 - 5518427

ER -