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 |
|---|---|
| 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 |
Fingerprint
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 journal › Article
}
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
AN - SCOPUS:78651364073
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 -