Stride and walking-cycle online changing for biped robot in frontal plane

Miki Nakazato, Kouhei Ohnishi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

When a walking trajectory of a 3-dimensional (3D) biped robot is changed, it is necessary to consider not only a sagittal trajectory but also a frontal trajectory. In this paper, an online stride changing method and a walking cycle changing method of biped robots using linear pendulum mode are proposed. With these methods, the trajectory planning is easier than that with some conventional methods because switching from a trajectory of single support phase to a trajectory of double support phase is unnecessary. Moreover, the moving range of center of gravity (COG) is decided arbitrarily. The validity of the proposed methods is confirmed by simulations and experiments,

Original languageEnglish
Title of host publicationAMC2010 - The 11th IEEE International Workshop on Advanced Motion Control, Proceedings
Pages607-612
Number of pages6
DOIs
Publication statusPublished - 2010 Jun 25
Event2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010 - Nagaoka, Niigata, Japan
Duration: 2010 Mar 212010 Mar 24

Publication series

NameInternational Workshop on Advanced Motion Control, AMC

Other

Other2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010
CountryJapan
CityNagaoka, Niigata
Period10/3/2110/3/24

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ASJC Scopus subject areas

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

Cite this

Nakazato, M., & Ohnishi, K. (2010). Stride and walking-cycle online changing for biped robot in frontal plane. In AMC2010 - The 11th IEEE International Workshop on Advanced Motion Control, Proceedings (pp. 607-612). [5464061] (International Workshop on Advanced Motion Control, AMC). https://doi.org/10.1109/AMC.2010.5464061