Trajectory planning of biped robot using linear pendulum mode for double support phase

Maki Shibuya; Tomoyuki Suzuki; Kouhei Ohnishi

doi:10.1109/IECON.2006.348126

Trajectory planning of biped robot using linear pendulum mode for double support phase

Maki Shibuya, Tomoyuki Suzuki, Kouhei Ohnishi

Department of System Design Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

35 Citations (Scopus)

Abstract

Double support phase is important for biped robots to achieve stable walking. In this research, a simple trajectory planning method using Linear Pendulum Mode (LPM) is proposed for double support phase. A biped robot is modeled by a pendulum in LPM. The walking stability is assured when the supporting point of LPM is set in the specific area. The area is shown clearly with Zero Moment Point (ZMP) in this paper. LPM is able to be applied to various motions since LPM uses a simple pendulum model. In this paper, a stop motion is described, for example. A pendulum has the dynamism that the COG velocity in the horizontal direction becomes 0 at particular points. LPM realizes natural stop motions using the dynamism.

Original language	English
Title of host publication	IECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics
Pages	4094-4099
Number of pages	6
DOIs	https://doi.org/10.1109/IECON.2006.348126
Publication status	Published - 2006 Dec 1
Event	IECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics - Paris, France Duration: 2006 Nov 6 → 2006 Nov 10

Publication series

Name	IECON Proceedings (Industrial Electronics Conference)

Other

Other	IECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics
Country/Territory	France
City	Paris
Period	06/11/6 → 06/11/10

Keywords

Biped robot
Double support phase
Linear pendulum mode
Stop motion
Trajectory planning

ASJC Scopus subject areas

Control and Systems Engineering
Electrical and Electronic Engineering

Access to Document

10.1109/IECON.2006.348126

Cite this

Trajectory planning of biped robot using linear pendulum mode for double support phase. / Shibuya, Maki; Suzuki, Tomoyuki; Ohnishi, Kouhei.

IECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics. 2006. p. 4094-4099 4153387 (IECON Proceedings (Industrial Electronics Conference)).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Shibuya, M, Suzuki, T & Ohnishi, K 2006, Trajectory planning of biped robot using linear pendulum mode for double support phase. in IECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics., 4153387, IECON Proceedings (Industrial Electronics Conference), pp. 4094-4099, IECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics, Paris, France, 06/11/6. https://doi.org/10.1109/IECON.2006.348126

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title = "Trajectory planning of biped robot using linear pendulum mode for double support phase",

abstract = "Double support phase is important for biped robots to achieve stable walking. In this research, a simple trajectory planning method using Linear Pendulum Mode (LPM) is proposed for double support phase. A biped robot is modeled by a pendulum in LPM. The walking stability is assured when the supporting point of LPM is set in the specific area. The area is shown clearly with Zero Moment Point (ZMP) in this paper. LPM is able to be applied to various motions since LPM uses a simple pendulum model. In this paper, a stop motion is described, for example. A pendulum has the dynamism that the COG velocity in the horizontal direction becomes 0 at particular points. LPM realizes natural stop motions using the dynamism.",

keywords = "Biped robot, Double support phase, Linear pendulum mode, Stop motion, Trajectory planning",

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N2 - Double support phase is important for biped robots to achieve stable walking. In this research, a simple trajectory planning method using Linear Pendulum Mode (LPM) is proposed for double support phase. A biped robot is modeled by a pendulum in LPM. The walking stability is assured when the supporting point of LPM is set in the specific area. The area is shown clearly with Zero Moment Point (ZMP) in this paper. LPM is able to be applied to various motions since LPM uses a simple pendulum model. In this paper, a stop motion is described, for example. A pendulum has the dynamism that the COG velocity in the horizontal direction becomes 0 at particular points. LPM realizes natural stop motions using the dynamism.

AB - Double support phase is important for biped robots to achieve stable walking. In this research, a simple trajectory planning method using Linear Pendulum Mode (LPM) is proposed for double support phase. A biped robot is modeled by a pendulum in LPM. The walking stability is assured when the supporting point of LPM is set in the specific area. The area is shown clearly with Zero Moment Point (ZMP) in this paper. LPM is able to be applied to various motions since LPM uses a simple pendulum model. In this paper, a stop motion is described, for example. A pendulum has the dynamism that the COG velocity in the horizontal direction becomes 0 at particular points. LPM realizes natural stop motions using the dynamism.

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Trajectory planning of biped robot using linear pendulum mode for double support phase

Abstract

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Keywords

ASJC Scopus subject areas

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