Trajectory planning and control for biped robot with toe and heel joints

Tomoya Sato, Sho Sakaino, Kouhei Ohnishi

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

6 Citations (Scopus)

Abstract

In this paper, a trajectory planning and a control for biped robots with toe and heel joints are shown. We added toe and heel joints to a basic biped robot. A trajectory planning is extended for the walking with the toe and heel joints. Using this mechanism and this trajectory planning, the stride can be increased more. Additionally, a control planning is presented for division of walking stabilization and environmental adaptation. A time-based switching impedance controller with the toe and heel joints is proposed for adaptation to uneven terrain. Using this control planning and the proposed method, the stable walking on the rough terrain is realized. The validity is confirmed by experimental results.

Original languageEnglish
Title of host publicationAMC2010 - The 11th IEEE International Workshop on Advanced Motion Control, Proceedings
Pages129-136
Number of pages8
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

Sato, T., Sakaino, S., & Ohnishi, K. (2010). Trajectory planning and control for biped robot with toe and heel joints. In AMC2010 - The 11th IEEE International Workshop on Advanced Motion Control, Proceedings (pp. 129-136). [5464011] (International Workshop on Advanced Motion Control, AMC). https://doi.org/10.1109/AMC.2010.5464011