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 language | English |
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Article number | 5518427 |
Pages (from-to) | 376-383 |
Number of pages | 8 |
Journal | IEEE Transactions on Industrial Electronics |
Volume | 58 |
Issue number | 2 |
DOIs | |
Publication status | Published - 2011 Feb 1 |
Keywords
- Biped robot
- trajectory planning
- walking
- zero-moment point (ZMP)
ASJC Scopus subject areas
- Control and Systems Engineering
- Electrical and Electronic Engineering