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

42 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 1

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Keywords

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

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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