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 publicationInternational Workshop on Advanced Motion Control, AMC
Pages607-612
Number of pages6
DOIs
Publication statusPublished - 2010
Event2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010 - Nagaoka, Niigata, Japan
Duration: 2010 Mar 212010 Mar 24

Other

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

Fingerprint

Biped Robot
Trajectories
Robots
Trajectory
Cycle
Trajectory Planning
Centre of gravity
Pendulum
Pendulums
Gravitation
Necessary
Planning
Range of data
Experiment
Simulation

ASJC Scopus subject areas

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

Cite this

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

Stride and walking-cycle online changing for biped robot in frontal plane. / Nakazato, Miki; Ohnishi, Kouhei.

International Workshop on Advanced Motion Control, AMC. 2010. p. 607-612 5464061.

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

Nakazato, M & Ohnishi, K 2010, Stride and walking-cycle online changing for biped robot in frontal plane. in International Workshop on Advanced Motion Control, AMC., 5464061, pp. 607-612, 2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010, Nagaoka, Niigata, Japan, 10/3/21. https://doi.org/10.1109/AMC.2010.5464061
Nakazato M, Ohnishi K. Stride and walking-cycle online changing for biped robot in frontal plane. In International Workshop on Advanced Motion Control, AMC. 2010. p. 607-612. 5464061 https://doi.org/10.1109/AMC.2010.5464061
Nakazato, Miki ; Ohnishi, Kouhei. / Stride and walking-cycle online changing for biped robot in frontal plane. International Workshop on Advanced Motion Control, AMC. 2010. pp. 607-612
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