Trajectory planning of biped robot with two kinds of inverted pendulums

Tomoyuki Suzuki, Kouhei Ohnishi

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

12 Citations (Scopus)

Abstract

In recent years, studies about walking motion of biped robots have been developed rapidly. In many researches, biped robots are often treated as inverted pendulums since the structure of biped robots are very complicated. This simplification makes trajectory planning for a biped robot easy. An inverted pendulum model, however, gives some constraints to the robot. Walking motion using one kind of inverted pendulum has low robustness of walking. Hence, we propose a trajectory planning method with combination of two kinds of inverted pendulums in this paper. Trajectory planning of the swing leg for this new method is also proposed. With these, more stable and humanlike walking motion is achieved than that with one kind of inverted pendulum. The proposed method is more effective when a biped robot walks with lager range of strides.

Original languageEnglish
Title of host publicationEPE-PEMC 2006: 12th International Power Electronics and Motion Control Conference, Proceedings
Pages396-401
Number of pages6
DOIs
Publication statusPublished - 2007
EventEPE-PEMC 2006: 12th International Power Electronics and Motion Control Conference - Portoroz, Slovenia
Duration: 2006 Aug 302006 Sep 1

Other

OtherEPE-PEMC 2006: 12th International Power Electronics and Motion Control Conference
CountrySlovenia
CityPortoroz
Period06/8/3006/9/1

Fingerprint

Pendulums
Trajectories
Robots
Planning
Beer

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

Cite this

Suzuki, T., & Ohnishi, K. (2007). Trajectory planning of biped robot with two kinds of inverted pendulums. In EPE-PEMC 2006: 12th International Power Electronics and Motion Control Conference, Proceedings (pp. 396-401). [4061737] https://doi.org/10.1109/EPEPEMC.2006.283192

Trajectory planning of biped robot with two kinds of inverted pendulums. / Suzuki, Tomoyuki; Ohnishi, Kouhei.

EPE-PEMC 2006: 12th International Power Electronics and Motion Control Conference, Proceedings. 2007. p. 396-401 4061737.

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

Suzuki, T & Ohnishi, K 2007, Trajectory planning of biped robot with two kinds of inverted pendulums. in EPE-PEMC 2006: 12th International Power Electronics and Motion Control Conference, Proceedings., 4061737, pp. 396-401, EPE-PEMC 2006: 12th International Power Electronics and Motion Control Conference, Portoroz, Slovenia, 06/8/30. https://doi.org/10.1109/EPEPEMC.2006.283192
Suzuki T, Ohnishi K. Trajectory planning of biped robot with two kinds of inverted pendulums. In EPE-PEMC 2006: 12th International Power Electronics and Motion Control Conference, Proceedings. 2007. p. 396-401. 4061737 https://doi.org/10.1109/EPEPEMC.2006.283192
Suzuki, Tomoyuki ; Ohnishi, Kouhei. / Trajectory planning of biped robot with two kinds of inverted pendulums. EPE-PEMC 2006: 12th International Power Electronics and Motion Control Conference, Proceedings. 2007. pp. 396-401
@inproceedings{67f43018a26e42ffb538f368dd1218c0,
title = "Trajectory planning of biped robot with two kinds of inverted pendulums",
abstract = "In recent years, studies about walking motion of biped robots have been developed rapidly. In many researches, biped robots are often treated as inverted pendulums since the structure of biped robots are very complicated. This simplification makes trajectory planning for a biped robot easy. An inverted pendulum model, however, gives some constraints to the robot. Walking motion using one kind of inverted pendulum has low robustness of walking. Hence, we propose a trajectory planning method with combination of two kinds of inverted pendulums in this paper. Trajectory planning of the swing leg for this new method is also proposed. With these, more stable and humanlike walking motion is achieved than that with one kind of inverted pendulum. The proposed method is more effective when a biped robot walks with lager range of strides.",
author = "Tomoyuki Suzuki and Kouhei Ohnishi",
year = "2007",
doi = "10.1109/EPEPEMC.2006.283192",
language = "English",
isbn = "1424401216",
pages = "396--401",
booktitle = "EPE-PEMC 2006: 12th International Power Electronics and Motion Control Conference, Proceedings",

}

TY - GEN

T1 - Trajectory planning of biped robot with two kinds of inverted pendulums

AU - Suzuki, Tomoyuki

AU - Ohnishi, Kouhei

PY - 2007

Y1 - 2007

N2 - In recent years, studies about walking motion of biped robots have been developed rapidly. In many researches, biped robots are often treated as inverted pendulums since the structure of biped robots are very complicated. This simplification makes trajectory planning for a biped robot easy. An inverted pendulum model, however, gives some constraints to the robot. Walking motion using one kind of inverted pendulum has low robustness of walking. Hence, we propose a trajectory planning method with combination of two kinds of inverted pendulums in this paper. Trajectory planning of the swing leg for this new method is also proposed. With these, more stable and humanlike walking motion is achieved than that with one kind of inverted pendulum. The proposed method is more effective when a biped robot walks with lager range of strides.

AB - In recent years, studies about walking motion of biped robots have been developed rapidly. In many researches, biped robots are often treated as inverted pendulums since the structure of biped robots are very complicated. This simplification makes trajectory planning for a biped robot easy. An inverted pendulum model, however, gives some constraints to the robot. Walking motion using one kind of inverted pendulum has low robustness of walking. Hence, we propose a trajectory planning method with combination of two kinds of inverted pendulums in this paper. Trajectory planning of the swing leg for this new method is also proposed. With these, more stable and humanlike walking motion is achieved than that with one kind of inverted pendulum. The proposed method is more effective when a biped robot walks with lager range of strides.

UR - http://www.scopus.com/inward/record.url?scp=42549090776&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=42549090776&partnerID=8YFLogxK

U2 - 10.1109/EPEPEMC.2006.283192

DO - 10.1109/EPEPEMC.2006.283192

M3 - Conference contribution

AN - SCOPUS:42549090776

SN - 1424401216

SN - 9781424401215

SP - 396

EP - 401

BT - EPE-PEMC 2006: 12th International Power Electronics and Motion Control Conference, Proceedings

ER -