Trajectory planning of biped robot for running motion

Tomoyuki Suzuki; Toshiaki Tsuji; Kouhei Ohnishi

doi:10.1109/IECON.2005.1569181

Trajectory planning of biped robot for running motion

Tomoyuki Suzuki, Toshiaki Tsuji, Kouhei Ohnishi

Department of System Design Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference 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 language	English
Title of host publication	IECON 2005
Subtitle of host publication	31st Annual Conference of IEEE Industrial Electronics Society
Pages	1815-1820
Number of pages	6
DOIs	https://doi.org/10.1109/IECON.2005.1569181
Publication status	Published - 2005 Dec 1
Event	IECON 2005: 31st Annual Conference of IEEE Industrial Electronics Society - Raleigh, NC, United States Duration: 2005 Nov 6 → 2005 Nov 10

Publication series

Name	IECON Proceedings (Industrial Electronics Conference)
Volume	2005

Other

Other	IECON 2005: 31st Annual Conference of IEEE Industrial Electronics Society
Country/Territory	United States
City	Raleigh, NC
Period	05/11/6 → 05/11/10

ASJC Scopus subject areas

Control and Systems Engineering
Electrical and Electronic Engineering

Access to Document

10.1109/IECON.2005.1569181

Cite this

Suzuki, T, Tsuji, T & Ohnishi, K 2005, Trajectory planning of biped robot for running motion. in IECON 2005: 31st Annual Conference of IEEE Industrial Electronics Society., 1569181, IECON Proceedings (Industrial Electronics Conference), vol. 2005, 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

@inproceedings{896b4edbdaf24db599cd1ab04d0b1bde,

title = "Trajectory planning of biped robot for running motion",

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.",

author = "Tomoyuki Suzuki and Toshiaki Tsuji and Kouhei Ohnishi",

year = "2005",

month = dec,

day = "1",

doi = "10.1109/IECON.2005.1569181",

language = "English",

isbn = "0780392523",

series = "IECON Proceedings (Industrial Electronics Conference)",

pages = "1815--1820",

booktitle = "IECON 2005",

note = "IECON 2005: 31st Annual Conference of IEEE Industrial Electronics Society ; Conference date: 06-11-2005 Through 10-11-2005",

}

TY - GEN

T1 - Trajectory planning of biped robot for running motion

AU - Suzuki, Tomoyuki

AU - Tsuji, Toshiaki

AU - Ohnishi, Kouhei

PY - 2005/12/1

Y1 - 2005/12/1

N2 - 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.

AB - 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.

UR - http://www.scopus.com/inward/record.url?scp=33749657272&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=33749657272&partnerID=8YFLogxK

U2 - 10.1109/IECON.2005.1569181

DO - 10.1109/IECON.2005.1569181

M3 - Conference contribution

AN - SCOPUS:33749657272

SN - 0780392523

SN - 9780780392526

T3 - IECON Proceedings (Industrial Electronics Conference)

SP - 1815

EP - 1820

BT - IECON 2005

T2 - IECON 2005: 31st Annual Conference of IEEE Industrial Electronics Society

Y2 - 6 November 2005 through 10 November 2005

ER -

Trajectory planning of biped robot for running motion

Abstract

Publication series

Other

ASJC Scopus subject areas

Access to Document

Other files and links

Fingerprint

Cite this