TY - GEN
T1 - Stride and walking-cycle online changing for biped robot in frontal plane
AU - Nakazato, Miki
AU - Ohnishi, Kouhei
PY - 2010/6/25
Y1 - 2010/6/25
N2 - 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,
AB - 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,
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U2 - 10.1109/AMC.2010.5464061
DO - 10.1109/AMC.2010.5464061
M3 - Conference contribution
AN - SCOPUS:77953784156
SN - 9781424466696
T3 - International Workshop on Advanced Motion Control, AMC
SP - 607
EP - 612
BT - AMC2010 - The 11th IEEE International Workshop on Advanced Motion Control, Proceedings
T2 - 2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010
Y2 - 21 March 2010 through 24 March 2010
ER -