TY - GEN
T1 - Trajectory generation of biped robots using linear pendulum mode with virtual supporting point
AU - Shibuya, Maki
AU - Sato, Tomoya
AU - Ohnishi, Kouhei
PY - 2008
Y1 - 2008
N2 - The trajectory generation methods of biped robots using Linear Pendulum Mode(LPM) with Virtual Supporting Point(VSP) are proposed. LPM is the method that a biped robot is approximated by a pendulum hanged from the ceiling. VSP is the concept that virtually maneuvers the supporting point of a pendulum model. Manipulating the supporting point using VSP, the COG trajectories of LPM of two motions are generated in this paper. One is the motion of double support phase for the landing earlier than planned. Biped robots often land earlier than arranged. At the time, the robots don't achieve the desired condition. It causes the unstable walking to the robots. The trajectory of double support phase is generated considering for the different condition from the plan. Another is the stop motion. Biped robots are able to smoothly stop with the COG velocity and acceleration of 0. The stop time and the stop position of COG are specified. The availability of proposed methods is confirmed by simulations and experiments.
AB - The trajectory generation methods of biped robots using Linear Pendulum Mode(LPM) with Virtual Supporting Point(VSP) are proposed. LPM is the method that a biped robot is approximated by a pendulum hanged from the ceiling. VSP is the concept that virtually maneuvers the supporting point of a pendulum model. Manipulating the supporting point using VSP, the COG trajectories of LPM of two motions are generated in this paper. One is the motion of double support phase for the landing earlier than planned. Biped robots often land earlier than arranged. At the time, the robots don't achieve the desired condition. It causes the unstable walking to the robots. The trajectory of double support phase is generated considering for the different condition from the plan. Another is the stop motion. Biped robots are able to smoothly stop with the COG velocity and acceleration of 0. The stop time and the stop position of COG are specified. The availability of proposed methods is confirmed by simulations and experiments.
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U2 - 10.1109/AMC.2008.4516080
DO - 10.1109/AMC.2008.4516080
M3 - Conference contribution
AN - SCOPUS:77951072942
SN - 9781424417032
T3 - International Workshop on Advanced Motion Control, AMC
SP - 284
EP - 289
BT - AMC'08 - 10th International Workshop on Advanced Motion Control, Proceedings
T2 - 10th International Workshop on Advanced Motion Control, AMC'08
Y2 - 26 March 2008 through 28 March 2008
ER -