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
N1 - Funding Information:
Manuscript received June 30, 2009; revised November 20, 2009, February 15, 2010, and April 15, 2010; accepted May 18, 2010. Date of publication June 14, 2010; date of current version January 12, 2011. This work was supported in part by a Grant-in-Aid for the Global Center of Excellence for High-Level Global Cooperation for Leading-Edge Platform on Access Spaces from the Ministry of Education, Culture, Sport, Science, and Technology in Japan.
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)
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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 -