Trajectory planning of biped robot for running motion

Tomoyuki Suzuki, Toshiaki Tsuji, Kouhei Ohnishi

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

5 Citations (Scopus)

Abstract

In recent years, studies of biped locomotion have been developed rapidly. Biped robots are able to walk smoothly. In addition, there came some robots which were able to run. Walking and running will be basic performances of biped robots in future. In this paper, we propose a new trajectory planning method, applicable to plan both walking and running motions. The two kinds of motions are treated as a unified trajectory. The trajectory consists of two phases; sinusoidal trajectory and parabolic trajectory. With this method, we plan walking and running motions for a biped robot in a unified manner, and switch between walking state and running state by parameter modification. We simulated and experimented with the proposed trajectory planning method.

Original languageEnglish
Title of host publicationIECON Proceedings (Industrial Electronics Conference)
Pages1815-1820
Number of pages6
Volume2005
DOIs
Publication statusPublished - 2005
EventIECON 2005: 31st Annual Conference of IEEE Industrial Electronics Society - Raleigh, NC, United States
Duration: 2005 Nov 62005 Nov 10

Other

OtherIECON 2005: 31st Annual Conference of IEEE Industrial Electronics Society
CountryUnited States
CityRaleigh, NC
Period05/11/605/11/10

Fingerprint

Trajectories
Robots
Planning
Biped locomotion
Switches

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

Cite this

Suzuki, T., Tsuji, T., & Ohnishi, K. (2005). Trajectory planning of biped robot for running motion. In IECON Proceedings (Industrial Electronics Conference) (Vol. 2005, pp. 1815-1820). [1569181] https://doi.org/10.1109/IECON.2005.1569181

Trajectory planning of biped robot for running motion. / Suzuki, Tomoyuki; Tsuji, Toshiaki; Ohnishi, Kouhei.

IECON Proceedings (Industrial Electronics Conference). Vol. 2005 2005. p. 1815-1820 1569181.

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

Suzuki, T, Tsuji, T & Ohnishi, K 2005, Trajectory planning of biped robot for running motion. in IECON Proceedings (Industrial Electronics Conference). vol. 2005, 1569181, pp. 1815-1820, IECON 2005: 31st Annual Conference of IEEE Industrial Electronics Society, Raleigh, NC, United States, 05/11/6. https://doi.org/10.1109/IECON.2005.1569181
Suzuki T, Tsuji T, Ohnishi K. Trajectory planning of biped robot for running motion. In IECON Proceedings (Industrial Electronics Conference). Vol. 2005. 2005. p. 1815-1820. 1569181 https://doi.org/10.1109/IECON.2005.1569181
Suzuki, Tomoyuki ; Tsuji, Toshiaki ; Ohnishi, Kouhei. / Trajectory planning of biped robot for running motion. IECON Proceedings (Industrial Electronics Conference). Vol. 2005 2005. pp. 1815-1820
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